The complicated underwater environment and the poor underwater vision make super-mini underwater cable robot hardly to be controlled. Traditionally, the manual control method by operators is adopted by this kind of robots. Unfortunately, the robots can hardly work normally in these practical circumstances. Therefore, to overcome these shortcomings and improve the abilities of these underwater cable robots, this paper proposes several improvements, including the system design, the motion controller design, three dimensional obstacle recognition and three dimensional path reconstruction technologies etc. The details are displayed as follow: (1) Super-mini underwater robot system design: several improvement schemes and important design ideas are investigated for the super-mini underwater robot.(2) Super-mini robot motion controller design: The motion controller design of underwater robot in complicated circumstance is investigated. A new adaptive neural network sliding mode controller with balanced parameter controller (ANNSMB) is proposed. Based on the theory of adaptive fuzzy sliding mode controller (AFSMC), an improved algorithm is also proposed and applied to the underwater robot. (3)Research of three dimensional underwater environment reconstructions: The algorithms and the experiments of underwater environment reconstructions are investigated. DT-MRI image processing algorithm and the theory of three dimensional obstacle reconstructions are adopted and improved for the application of the underwater robot. (4) The super-mini underwater robot path planning algorithms are investigated.

L'environnement sous-marin compliqué et la pauvre vision sous-marine font le robot câblé sous-marin super-mini-à peine pour être contrôlés. Traditionnellement, la méthode de contrôle manuelle par les opérateurs est adoptée par cette sorte de robots. Malheureusement, les robots peuvent à peine travailler normalement dans ces circonstances pratiques. Donc, pour surmonter ces manques et améliorer les capacités de ces robots câblés sous-marins, ce papier propose plusieurs améliorations, en incluant le design de système, le design de contrôleur de mouvement, la reconnaissance d'obstacle en trois dimensions et les technologies de reconstruction de sentier en trois dimensions etc. (1) Super-mini sous-marins de conception système de robot: plusieurs programmes d'amélioration et d'idées de conception importants sont étudiés pour la super-mini robot sous-marin (2) La conception du contrôleur de mouvement du robot sous-marin dans des circonstances compliquées est étudiée. Un nouveau réseau de neurones adaptatif coulissantes contrôleur de mode avec le contrôleur paramètre équilibrée est proposé. Basé sur la théorie de la gestion adaptative floue contrôleur de mode coulissant , un algorithme amélioré est également proposé et appliqué à l'robot sous-marin. (3) Recherche de reconstructions d'environnement sous-marines en trois dimensions : les algorithmes et les expériences de reconstructions d'environnement sous-marines sont enquêtés. L'algorithme de traitement d'image de DT-MRI et la théorie de reconstructions d'obstacle en trois dimensions sont adoptés et améliorés pour l'application du robot sous-marin. / The complicated underwater environment and the poor underwater vision make super-mini underwater cable robot hardly to be controlled. Traditionally, the manual control method by operators is adopted by this kind of robots. Unfortunately, the robots can hardly work normally in these practical circumstances. Therefore, to overcome these shortcomings and improve the abilities of these underwater cable robots, this paper proposes several improvements, including the system design, the motion controller design, three dimensional obstacle recognition and three dimensional path reconstruction technologies etc. The details are displayed as follow: (1) Super-mini underwater robot system design: several improvement schemes and important design ideas are investigated for the super-mini underwater robot.(2) Super-mini robot motion controller design: The motion controller design of underwater robot in complicated circumstance is investigated. A new adaptive neural network sliding mode controller with balanced parameter controller (ANNSMB) is proposed. Based on the theory of adaptive fuzzy sliding mode controller (AFSMC), an improved algorithm is also proposed and applied to the underwater robot. (3)Research of three dimensional underwater environment reconstructions: The algorithms and the experiments of underwater environment reconstructions are investigated. DT-MRI image processing algorithm and the theory of three dimensional obstacle reconstructions are adopted and improved for the application of the underwater robot. (4) The super-mini underwater robot path planning algorithms are investigated.