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Alternative TitleTechnical Research, System Design and Implementation of Docking between AUV and Autonomous Mobile Dock Station
郑荣1,2; 吕厚权1,2,3; 于闯1,2; 韩晓军1,2; 李默竹1,2; 魏奥博1,2,3
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20195207923044
Contribution Rank1
Funding Organization中国科学院战略性先导科技专项(XDA13030204)
Keyword自主水下机器人 水下对接 动态入坞 水下定位 入坞系统


Other Abstract

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%.

Citation statistics
Document Type期刊论文
Corresponding Author吕厚权
Recommended Citation
GB/T 7714
郑荣,吕厚权,于闯,等. AUV与自主移动坞站对接的技术研究及系统设计实现[J]. 机器人,2019,41(6):713-721.
APA 郑荣,吕厚权,于闯,韩晓军,李默竹,&魏奥博.(2019).AUV与自主移动坞站对接的技术研究及系统设计实现.机器人,41(6),713-721.
MLA 郑荣,et al."AUV与自主移动坞站对接的技术研究及系统设计实现".机器人 41.6(2019):713-721.
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