一种回收过程中UUV对运动母船的跟踪方法

An approach for UUV tracking the moving mothership in the recovery stage

在无人水下航行器(UUV)对运动母船的跟踪过程中,跟踪方法需要适应母船的运动特性,为此该文提出了引入速度量的人工势场法。为了保证跟踪过程安全可靠,考虑到母船外部形状的复杂性,在母船周围划定四个禁航区。在运动规划过程中除了将UUV、母船和禁航区的位置信息作为规划要素外,加入了三者的速度信息,得到改进的势场法。基于改进的势场法得到UUV的速度和航向方程,并在母船以运动场方式运动的工况下进行了UUV跟踪母船的仿真实验,结果表明所设计的运动规划方法能够实现UUV水下自主回收作业中对运动母船的安全跟踪。

To make an unmanned underwater vehicle（ UUV） better track the moving mother ship,an artificial potential field approach with inputted speed which is adapt to the movement characteristic of mother ship was proposed. Considering the complexity of mother ship ＇ s outside shape,four prohibited areas were delimited around mothership to guarantee the safety of tracking process. During the motion planning process,an improved potential field approach was achieved by treating the position and speed information of UUV,mothership and prohibited areas as the planning element. Utilizing the improved potential field approach,the speed and direction equations of UUV were obtained. Finally,the simulation experiment of UUV tracking mothership has been done on the working condition that the mothership moves in the motion field way. The simulation results show that the motion planning method can make the UUV track the moving mothership safely in the process of underwater autonomous recovery.