无人艇航迹控制方法仿真研究

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1、分类号U学号GS13092273ＵＤＣ密级公开工程硕士学位论文无人艇航迹控制方法仿真研究姓名章飞钹学科专业交通运输工程研究方向载运工具结构安全性评估指导教师袁杰红教授国防科学技术大学研究生院二〇一六年十月SimulationonTrajectoryControlforUnmannedSurfaceVesselsCandidate：FeiboZhangSupervisor：Prof.JiehongYanAdissertationSubmittedinpartialfulfillmentoftherequi

2、rementsforthedegreeofMasterofPilosophyinTransportationEngineering(October，2016)国防科学技术大学研究生院硕士学位论文目录摘要...............................................................................................................................iABSTRACT.................

3、....................................................................................................iii第一章绪论..................................................................................................................11.1研究背景及意义.....................

4、........................................................................11.2国内外研究综述.............................................................................................11.2.1无艇研制发展现状................................................................

5、................11.2.2无人艇航迹控制研究现状....................................................................51.3论文研究内容和组织结构.............................................................................91.3.1主要研究内容.................................................

6、.......................................91.3.2章节组织结构......................................................................................10第二章无人艇的运动方程........................................................................................122.1坐标系及坐标变换...

7、......................................................................................122.1.1坐标系定义..........................................................................................122.1.2运动参数定义.....................................................

8、.................................132.1.3坐标变换..............................................................................................142.2运动方程推导.........................................................................