Random coupling and multi-load laying method for autonomous underwater vehicles

Abstract

The invention relates to a random coupling and multi-load laying method for autonomous underwater vehicles. The random coupling and multi-load laying method has the advantages that single adjacent random coupling is introduced in order to overcome the shortcoming of requirements on simultaneously establishing complicated coupling relations between an AUV (autonomous underwater vehicle) and all peripheral neighbors in movement procedures of existing methods; each AUV only needs to establish a coupling relation with a single neighbor in a movement procedure, and the multiple AUVs can cooperatively move by the aid of time-variant target switching on the basis of movement states of the neighbors; the difficulty in implementing cooperation between the AUVs can be simplified, and the integral safety and sailing precision of AUV systems can be improved; AUV movement cooperation procedures can be simplified, cooperation targets can be switched over by each individual in real time according to the movement states of the neighbors, and accordingly the movement flexibility of the systems can be improved while cooperative computation burden is relieved.

Description

technical field [0001] The invention belongs to the field of motion cooperative control of multiple underwater vehicles, and in particular relates to a random coupling multi-load deployment method for autonomous underwater vehicles. Background technique [0002] Autonomous Underwater Vehicles (AUV) is a general-purpose, modular unmanned underwater vehicle platform that is intelligent, autonomous, and multi-functional. It can carry different types of payloads and can be used to perform underwater Different tasks such as search and detection, seabed resource exploration, marine environment investigation, seabed salvage, etc. In the military field, using AUVs to deploy mines, detection equipment and other payloads can covertly deploy to enemy ports, estuary waterways, naval bases or ship anchorages outside the enemy's warning area, which has outstanding security advantages. Usually, the payload carried by AUV is deployed in the form of a single unit. Due to the limitation of i...

AI Technical Summary

Problems solved by technology

In view of the practical factors such as difficulties in underwater communication, long signal transmission delay, and limited underwater visibility, it is difficult to obtain the real-time motion status of adjacent AUVs and the information update rate is low, which often cannot meet the implementation conditions of the existing multi-neighbor coupling coordination method. , which has become a huge obstacle restricting the practical application of multi-autonomous underwater vehicles

Images