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Method for determining path of UUV in process of recycling mother ship

A path determination and mother ship technology, applied in the field of path determination of unmanned autonomous underwater vehicles when the mother ship is recovered, can solve problems such as large amount of calculation

Inactive Publication Date: 2014-02-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] This application relates to a UUV path determination method when the mother ship is recovered, which is used to solve the problem of large amount of calculation when planning UUV paths in the prior art

Method used

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  • Method for determining path of UUV in process of recycling mother ship
  • Method for determining path of UUV in process of recycling mother ship
  • Method for determining path of UUV in process of recycling mother ship

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Embodiment Construction

[0020] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0021] The embodiment of the present invention provides a UUV terminal path planning method when the mother ship is recovered, and its specific content is as follows:

[0022] Suppose the starting point coordinates are P 0 (x 0 ,y 0 )=(50,50), the path point coordinate is P i (x i ,y i ), i=1,...,n, the coordinate of the opening of the mother ship is P s (x s ,y s )=(1000,1000). figure 1 It is a schematic diagram of the terminal path planning when the UUV is on the left side of the mother ship during the recovery process of the mother ship. figure 2 is a schematic diagram of the terminal path planning when the UUV is on the right side of the mother ship during the recovery process of the mother ship, as shown in figure 1 and figure 2 As shown, in order to realize the recovery of UUV by the mother ship, a straight line L is drawn at ...

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Abstract

The invention relates to a method for determining a path of a UUV in the process of recycling a mother ship. The method comprises the steps that a circle r is determined, wherein the curvature of the circle r is the tortuosity of the UUV capable of sailing, the circle r and a first straight line L in the opening direction of a dock of the mother ship are tangent, and the circle r and the UUV are on the same side of the first straight line L; a second straight line H which is tangent to the circle r is determined, wherein the second straight line H passes through the current position of the UUV; the tangency point Pg where the circle r and the straight line H are tangent serves as a target point, and the UUV moves towards the target point. Through the method, the difficulty for planning the path can be reduced.

Description

technical field [0001] The present application belongs to the technical field of underwater robots, and relates to a path determination method for an unmanned autonomous underwater vehicle (Unmanned underwater vehicle, UUV) when a mother ship is recovered. Background technique [0002] With the continuous increase of human demand for marine resources, the space for human activities has gradually expanded from near-shore and shallow seas to deeper seas. UUV technology has received more and more attention, especially in the military fields of various countries. important role. [0003] UUV route planning is an important guarantee for UUV to complete tasks efficiently and safely. The UUV needs to be recycled after completing the task, which requires that the UUV can autonomously sail to the mother ship dock according to a certain route. The conventional method is to sail the UUV near the mother ship. In the manual mode, the remote control UUV adjusts the course and path, and ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 严浙平邓超邓力榕李本银张伟张宏翰
Owner HARBIN ENG UNIV
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