Study on qualitative modeling of underwater robot

To deal with the difficulty of establishing the accurate dynamics mathematical model of the underwater robots, a qualitative modeling method of underwater robots dynamics is presented based on qualitative simulation. Considering the complexity of the working environment and particularity of the non-linear movement process of underwater robots, through determining the landmark values and distinguished time-point selection method as well as qualitative state representation in the qualitative behavior of reasoning, an approach about qualitative processing quantitative information is proposed. Moreover, the qualitative constraints in different operating modes are analyzed. As a result, the qualitative state transition sequence is determined. The water tank experiment validates the feasibility of dynamics modeling of underwater robot based on qualitative simulation.