Planning method for recovering autonomous underwater vehicle (AUV) through guide cable of surface unmanned ship

Abstract

The invention discloses a planning method for recovering an autonomous underwater vehicle (AUV) through a guide cable of a surface unmanned ship. The recovery logical flow comprises the following steps: firstly, starting a recovery process after the AUV ends a task; secondly, judging whether data are abnormal or not; thirdly, judging the state of the AUV, if the state of the AUV is abnormal, performing state exception processing, otherwise issuing an instruction, and executing a next step action; and finally, take whether the recovery is successful as a criterion for judging the end of a logical flow. The invention has the beneficial effects that a planning method of coordinated docking recovery between the autonomous underwater vehicle and the surface unmanned ship is proposed specific tothe operation process of autonomous recovery of the underwater vehicle by the surface unmanned ship. The planning method includes the control strategies of start / stop of a recovery task, coordinatedcontrol of docking and re-planning after docking failure; the effectiveness of the whole recovery process is ensured through whole process planning adjustment; and the success rate of autonomous recovery of the underwater vehicle by the surface unmanned ship is greatly improved.

Description

technical field [0001] The invention relates to a planning method for recovering an autonomous underwater vehicle by a guiding cable of an unmanned ship on the surface, and belongs to the technical field of unmanned marine vehicles. Background technique [0002] Unmanned Surface Vehicle (USV for short) and Autonomous Underwater Vehicle (AUV for short), as the main components of maritime unmanned systems, have received more and more attention at home and abroad in recent years. As a research hotspot, it has broad application prospects in both military and civilian applications. As countries attach importance to marine strategies and strengthen marine development, both USV and AUV will play an increasingly important role, which will have a profound impact on human water engineering applications, marine military activities, and marine development and utilization. [0003] As unmanned platforms, USV and AUV have their own strengths and weaknesses, and they cannot replace each o...

AI Technical Summary

Problems solved by technology

[0004] In fact, AUVs are widely used in various fields such as marine military affairs, marine surveys, seabed resource exploration, pipeline inspections, etc. due to their diverse functions, high concealment, and good mobility. It is more difficult. When using AUV to perform tasks, the data is usually downloaded after recovery; at the same time, AUV has its own battery, and its battery life is limited, so it must be recharged after recovery. Therefore, the successful recovery of AUV is particularly important.

[0005] However, due to the complex marine environment and the influence of wind, waves, and currents on the sea surface, the recovery of autonomous underwater vehicles has always been a worldwide problem and has become a technical bottleneck restricting the development of underwater vehicles.

Over the past decade or so, Western countries led by the United States have successively proposed a variety of methods for unmanned deployment and recovery of AUVs, but there are still defects such as severe hydrodynamic impact and difficult dynamic docking, and the success rate of recovery is low.

[0006] During the critical process of docking between the surface unmanned ship and the autonomous underwater vehicle, the AUV will be affected by the disturbance of the complex ocean environment, and the motion state of the USV will also deviate from the expected state due to the effects of wind, waves, and currents on the sea surface. Coupled with the lack of robustness of existing communication, positioning and other technologies in an underwater environment full of uncertain factors, these will greatly affect the recovery success rate

Images