The Lake Trial about the Autonomous Recovery of the UUV by the USV Towed System
文献类型：会议论文
| 作者 | Gu HT(谷海涛)1,3 ; Meng LS(孟令帅)1,2,3; Tang DS(唐东生)1,2,3; Li N(李宁)1,3; Wang ZQ(王子庆)1,3; Bai GQ(白桂强)1,2,3; Liu S(刘爽)1,2,3; Zhang HY(张海洋)1,3; Lin Y(林扬)1,3
|
| 出版日期 | 2019 |
| 会议日期 | June 17-20, 2019 |
| 会议地点 | Marseille, France |
| 关键词 | Unmanned Underwater Vehicle (UUV) V-shaped wing Autonomous Recovery Unmanned Surface Vehicle (USV) |
| 页码 | 1-7 |
| 英文摘要 | With the development of the unmanned marine systems, autonomous recovery of Unmanned Underwater Vehicles(UUV) based on the Unmanned Surface Vehicles(USV) has become an important research field. Comparatively analyzing the current mainstream recovery methods, this paper proposes a new recovery scheme based on the previous research results. In this scheme, one end of the cable is connected to a winch fixed to the USV and the other is connected to the V-shaped wing, which can provide downward pressure to keep the line tight, and the rudders mounted on it can be adjusted to assure the attitude stability, which facilitate Docking and Line Capture Line Recovery(LCLR) of the UUV. After structure optimization, the V-shaped wing was modeled in hydrodynamic software STAR-CCM+. The numerical simulation shows that the improved V-shaped wing can provide about 20N downward pressure when the towing speed is 2 knots. In order to improve the reliability of the LCLR system and reduce mechanism sticking, a new type of capture mechanism is designed and it is driven by two motor respectively instead of just one. Besides, the LED beacon ranging tests were conducted in the Xiu Lake. It shows the accuracy of optical guidance algorithm is 2%, and the maximum optical recognition distance is 16m in the air and 10m in the clean water, which satisfies the docking accuracy. From October 2018, two Lake tests were carried out in Xiu Lake in Shenyang and Qiandao Lake in Hangzhou. The performance of the LCLR system was tested, and the V-shaped wing was towed at different speeds range from 1 to 1.5 knots and the length of the cable is 8m. The results show the V-shaped wing can maintain depth and attitude stability. Finally, through the improved acousto-optic joint guidance algorithm, the docking process is successfully completed and the Towed Line and Cable were captured by the UUV line capture mechanism on nose. The feasibility of the presented recovery scheme was indicated by the results from the two trials, which has a certain guiding significance for the dynamic recovery of an UUV in the future. |
| 产权排序 | 1 |
| 会议录 | OCEANS 2019 Marseille
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-1450-7 |
| 源URL | [http://ir.sia.cn/handle/173321/26041]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Gu HT(谷海涛) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academey of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Gu HT,Meng LS,Tang DS,et al. The Lake Trial about the Autonomous Recovery of the UUV by the USV Towed System[C]. 见:. Marseille, France. June 17-20, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。