基于航路点跟踪的AUV回收控制

Autonomous Recovery of an AUV Based on Way-Point Tracking Control

针对军事侦察和海洋观测领域中对自主水下航行器(AUV)自主回收能力的需求,研究了AUV自主回收中的航路点跟踪控制问题。在海流干扰作用下,设计航路点规划跟踪路径,然后运用自适应滑模方法设计AUV的动力学控制规律。采用横向跟踪控制算法,使AUV精确地沿着规划的运动路径进入回收器中。仿真结果表明,所设计的控制规律是有效的,AUV能较好地完成航路点的跟踪任务,并最终到达回收器中实现了对接。

To fulfill the requirements on the underwater autonomous recovery ability of AUV in the fields of military reconnaissance and the oceanic environment inspection,the way-point control and docking during the process of under water recovery are studied.In the presence of ocean current disturbance,a kinematic controller is derived based on slide mode control and adaptive control techniques.The 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 method is proven effective and finally reaches the destination.