Autonomous underwater vehicle robust docking recovery method based on acousto-optic fusion guidance

Abstract

The invention provides an autonomous underwater vehicle robust docking recovery method based on acousto-optic fusion guidance. The method comprises the following steps that: an AUV sequentially completes waypoints in a waypoint guiding manner, reaches the last waypoint positioned in front of a recovery cage, and continues to navigate by adopting a fuzzy control straight line tracking method according to a reference course angle and the speed of the underwater vehicle, and self-adaptive guide docking recovery of the underwater vehicle is carried out; in the process of approaching the recovery cage, the longitude and latitude of the recovery cage are updated in real time by adopting an acousto-optic guide combination according to an ultra-short base line USBL measurement result, an optical means and the longitude and latitude of the vehicle; when the AUV is adjusted to be close to the center of the recovery cage, an AUV camera recognizes a target light source at the center of the bottom of the recovery cage, the AUV conducts self-adaptive tracking and pose calculation result correction on the target light source at the center of the bottom of the recovery cage, and autonomous docking of the underwater vehicle is completed. According to the method of the invention, the underwater recovery of the AUV can be realized, the energy consumption of the AUV is reduced, unnecessary collision is avoided, and the docking success rate is improved.

Description

technical field [0001] The invention relates to a control method of an autonomous underwater vehicle, more specifically, a method for robust docking and recovery of an autonomous underwater vehicle guided by fusion of sound and light. Background technique [0002] In the past few decades, the application of robotics in underwater environments has developed rapidly, and AUVs can perform tasks such as search, detection and reconnaissance underwater. After completing the task, it is necessary to be able to realize recycling. Artificial hoisting and recycling are not only costly, but also very dangerous. At present, AUVs are guided by acoustic equipment at a long distance, and the distance between the underwater vehicle and the docking device is accurately identified by visual sensors at short distances. Relative pose, so as to realize the framework of AUV autonomous docking has been widely sought after by scholars at home and abroad. [0003] The docking and recovery problem i...

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Problems solved by technology

[0005] In order to solve the problems existing in the prior art, the present invention proposes a robust docking recovery method for autonomous underwater vehicles guided by fusion of sound and light, which not only overcomes the shortcomings of inertial navigation with cumulative errors through acoustic navigation, but also solves the problem of relying solely on Acoustic navigation data updates are slow, and the docking success rate is low. In addition, combined with actual engineering experience, the weighted value of the acousto-optic navigation is set by using the measurement distance. Reduce AUV energy consumption without compromising reliability

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