计算机工程与应用2012，Vol.48Issue(3)：7-9,42,4.DOI:10.3778/j.issn.1002-8331.2012.03.002
自主水下航行器的回坞导引和入坞控制算法
Homing guidance and docking control algorithm for autonomous underwater vehicles
摘要
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.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Key words
autonomous underwater vehicle/ autonomous recovery/ homing guidance/ docking control/ cross-track control分类
信息技术与安全科学引用本文复制引用
高剑,严卫生,徐德民,刘明雍..自主水下航行器的回坞导引和入坞控制算法[J].计算机工程与应用,2012,48(3):7-9,42,4.基金项目
国家自然科学基金(No.50909082). （No.50909082）
