Target guide approaching control method and system for autonomous underwater vehicle

Abstract

The invention discloses a target guide approaching control method and system for an underwater autonomous vehicle, relates to the technical field of underwater autonomous vehicle control, and the method and the system can improve the online recognition capability of the vehicle, perform task re-planning after finding a suspected target, and ensure the underwater autonomous path planning and target guide approaching functions of the underwater vehicle. According to the technical scheme of the invention, the method and the system are used for achieving the recognition, processing and guided approaching of an underwater target by the autonomous underwater vehicle. The method comprises the following steps: the autonomous underwater vehicle autonomously sails underwater according to a pre-planned route; a forward-looking sonar detects the navigation area of the autonomous underwater vehicle to obtain a sonar image; and the image processor performs online processing on the sonar image and outputs the position information of the underwater target to the control unit in real time; the control unit carries out task re-planning according to the position information of the underwater target, and the autonomous underwater vehicle sails according to an air route obtained through re-planning and is guided to approach the target.

Description

technical field [0001] The invention relates to the technical field of control of underwater autonomous vehicles, in particular to a method and system for target guidance and approach control of underwater autonomous vehicles. Background technique [0002] When an underwater autonomous vehicle performs tasks underwater, the communication with the shore control console is often realized through underwater acoustic communication, but the amount of data in underwater acoustic communication is small, and image information cannot be transmitted, and most autonomous vehicles do not have online recognition. The function is generally to collect and store data through sonar. After the aircraft is recovered, through manual intervention to confirm the suspected target and then go into the water to perform the corresponding task again. The operation is cumbersome and takes a long time. [0003] To this end, it is necessary to improve the online recognition ability of the vehicle, re-pla...

AI Technical Summary

Problems solved by technology

[0002] When an underwater autonomous vehicle performs tasks underwater, the communication with the shore control console is often realized through underwater acoustic communication, but the amount of data in underwater acoustic communication is small, and image information cannot be transmitted, and most autonomous vehicles do not have online recognition. The function is generally to collect and store data through sonar. After the aircraft is recovered, through manual intervention, after confirming the suspected target, it will go into the water again to perform the corresponding task. The operation is cumbersome and takes a long time.

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