Technical Research, System Design and Implementation of Docking between AUV and Autonomous Mobile Dock Station

被引：0
|
作者：
Zheng R. [1 ,2 ]
Lü H. [1 ,2 ,3 ]
Yu C. [1 ,2 ]
Han X. [1 ,2 ]
Li M. [1 ,2 ]
Wei A. [1 ,2 ,3 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
[3] University of Chinese Academy of Sciences, Beijing
来源：
Jiqiren/Robot | 2019年 / 41卷 / 06期
关键词：
AUV (autonomous underwater vehicle); Docking system; Moving docking; Underwater docking; Underwater positioning;
D O I：
10.13973/j.cnki.robot.180753
中图分类号：
学科分类号：
摘要：
The moving docking technology of underwater autonomous vehicles is studied in order to achieve collaborative work of multiple marine robots at sea, improve the comprehensive operation capability of autonomous underwater vehicle (AUV), expand the unmanned operation scenarios, and increase the time for AUV to work autonomously. A docking system based on acoustic guidance is designed for funnel-type dock station, and the ultimate path back to the dock station is planned according to the structural characteristics of the docking station and the calculation principle of guiding sensor. Under the premise of ensuring the docking safety, the water body for docking is divided into safe area, dangerous area and docking area. According to the relative position relation between the AUV and the docking station, the docking path is planned in the safe area and the docking area, and the corresponding control strategy and guidance algorithm are designed for different paths. Finally, the reliability of the docking system is verified by the lake test. The related guidance algorithm and control strategy are of strong universality and high robustness in a series of hovering docking tests and moving docking tests. In docking tests at different depths and speeds under water, the designed methods can ensure a higher docking success rate. In docking tests with the solidified technology, the docking success rate is higher than 90%. © 2019, Science Press. All right reserved.
引用
收藏
页码：713 / 721
页数：8
相关论文
共 20 条
  • [1] Sato Y., Maki T., Kume A., Et al., Path replanning method for an AUV in natural hydrothermal vent fields: Toward 3D imaging of a hydrothermal chimney, Marine Technology Society Journal, 48, 3, pp. 104-114, (2014)
  • [2] Choyekh M., Kato N., Short T., Et al., Vertical water column survey in the Gulf of Mexico using autonomous underwater vehicle SOTAB-I, Marine Technology Society Journal, 49, 3, pp. 88-101, (2015)
  • [3] Hardy T., Barlow G., Unmanned underwater vehicle deployment and retrieval considerations for submarines, Proceedings of the Institute of Marine Engineering, Science and Technology-INEC 2008: Embracing the Future, (2008)
  • [4] Zhang Q.F., Zhang Y.X., Zhang A.Q., Research status of benthic small-scale crawling robots, Robot, 41, 2, pp. 250-264, (2019)
  • [5] Fletcher B., Martin S., Flores G., Et al., From the lab to the ocean: Characterizing the critical docking parameters for a free floating dock with a REMUS 600, Oceans 2017, pp. 1-7, (2017)
  • [6] Gillis C., Dynamic model development and simulation of an autonomous active AUV docking device using a mechanically actuated mechanism to recover AUVs to a submerged slowly moving submarine in waves, (2014)
  • [7] Feezor M.D., Blankinship P.R., Bellingham J.G., Et al., Autonomous underwater vehicle homing/docking via electromagnetic guidance, Oceans 97 MTS/IEEE Conference, pp. 1137-1142, (1997)
  • [8] Allen B., Austin T., Forrester N., Et al., Autonomous docking demonstrations with enhanced REMUS technology, Oceans 2006, (2006)
  • [9] McEwen R.S., Hobson B.W., McBride L., Et al., Docking control system for a 54-cm-diameter (21-in) AUV, IEEE Journal of Oceanic Engineering, 33, 4, pp. 550-562, (2008)
  • [10] Li Y., Jiang Y.Q., Cao J., Et al., AUV docking experiments based on vision positioning using two cameras, Ocean Engineering, 110, pp. 163-173, (2015)
12