Environmental Sensing and Motion Control for Underwater Robots

摘要

Underwater robot is an underwater equipment with autonomous sensing ability, which can replace human in the high-risk underwater environment to complete tasks such as resource exploration, information collection, underwater fishing, etc. In this paper, we first review current research status of underwater sensing technologies from three aspects: tactile sensing, visual sensing and acoustic sensing. Then we provide an overview of motion control techniques for underwater robots in terms of both traditional motion control methods and reinforcement learning-based motion control methods. Finally, the problems in current researches are summarized and the future development directions are proposed.