Design and Realization of Autonomous Course Reversal Control System in Long Tunnel of Underwater Detection Robot

Hongkun Zhou, Yu Gong, Fan Yang, Tianwei Wang, Yong Yang, Chao Yan


Aim at the problem that the cable-controlled underwater robot was out of control as the umbilical cord was wound into a long water tunnel, an autonomous returning control system of underwater robot based on high precision underwater acoustic positioning and six-direction ranging sonar environment perception is designed to realize the Autonomous returning along the water tunnel after signal interruption. Finally, in the actual tunnel environment of hydropower plant, the autonomous return control test was carried out, and the underwater robot successfully returned to its original position after the communication signal was interrupted.


Underwater Robots; Artificial Potential Field Method; Path Planning; Water Conveyance Tunnel; Autonomous Return Control


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