Abstract:

To fulfill the requirements on the underwater autonomous recovery ability of Autonomous Underwater Vehicles（AUVs） in the fields of the military reconnaissance and the oceanic environment inspection, the guidance and control problem of the homing and docking operations during the process of underwater recovery by docking station are studied. The autonomous recovery action is divided into two sequential stages, namely the homing stage and docking stage, and the different control strategies are applied. In the homing stage, the conventional Line-of-Sight（LOS） guidance algorithm is used to drive the AUV to reach the homing waypoint in front of the docking station. In the following docking stage, the nonlinear cross-tracking control method is adopted to control the AUV tracking the docking path along the center line of the docking station and finally entering the station. This autonomous recovery method is proved effective and suitable for practical applications by the simulation studies with the REMUS AUV model.

Key words: autonomous underwater vehicle, autonomous recovery, homing guidance, docking control, cross-track control

摘要： 针对军事侦察和海洋环境监测领域中对自主水下航行器（AUV）水下自主回收能力的需求，研究了AUV自主回收过程中回坞和入坞的导引和控制问题。将水下自主回收过程分为回坞导引和入坞控制两个连续的阶段，其中回坞阶段采用经典的视线（LOS）导引法，使AUV到达回收器正前方的回坞航路点；入坞阶段则采用非线性横向跟踪控制方法，使AUV精确跟踪沿回收器中轴线的入坞直线航路航行并最终进入回收器。采用REMUS AUV的模型参数对水下回收进行了仿真研究，结果表明该方法是有效的，具有良好的工程应用前景。

关键词: 自主水下航行器, 自主回收, 回坞导引, 入坞控制, 横向跟踪控制