AUV longitudinal speed guidance method in underwater dynamic docking process

Abstract

The invention discloses an AUV longitudinal speed guiding method in underwater dynamic docking process. For a dynamic docking process between an underwater AUV and a mother boat, a condition that a too large longitudinal speed of an AUV may cause a serious collision accident with a docking station carried by the mother boat is considered, the invention proposes a longitudinal speed guiding methodfor the AUV. According to the method, the docking process is divided into an approaching section and a docking section. In the approaching section, the distance between the center of gravity of the AUV and the docking station is selected as a reference amount to design the longitudinal speed. In the docking section, an arc length of a circular orbit corresponding to the center of gravity of the AUV and the docking station is selected as a reference amount to design the longitudinal speed. Compared with a traditional setting of a longitudinal segmentation speed, the method of the invention hasthe advantages that the AUV approaches the mother boat and enters the docking station with a small safe speed, a speed curve does not change significantly, the docking time is shortened, and the docking safety is improved.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle control, in particular to an AUV longitudinal velocity guidance method in the process of underwater dynamic docking. Background technique [0002] Intelligent underwater unmanned vehicle, namely Autonomous Underwater Vehicle, AUV, as a high-tech underwater unmanned platform, has played an important role in resource development, marine science, underwater rescue and other fields, and has become a new type of equipment that countries focus on developing. In recent years, people have gradually turned their attention from the development of the land environment to the development of the ocean field, and countries have taken the ocean as a strategic goal and development direction. For our country, where the per capita share of resources is not high, the development of the marine field has special significance and value. In the process of ocean development, underwater vehicles have played a ...

AI Technical Summary

Problems solved by technology

In terms of underwater AUV static docking, the existing method sets the longitudinal speed as a two-stage control. When the AUV is a certain distance from the docking station, the AUV speed is reduced to a fixed value. This method can avoid accidents to a certain extent. , but the speed is only segmented, the idea is too simple, and there are obvious mutations in the speed curve

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