{"title":"无人无系潜器与水下空间站交会对接的制导与控制","authors":"N. Kato, M. Endo","doi":"10.1109/OCEANS.1989.586685","DOIUrl":null,"url":null,"abstract":"This paper proposes a new concept of underwater unmanned survey system consisting of a mother ship, a launcher, an underwater station(UUS) and a group of unmanned, untethered submersibles (UROVs) t o perform autonomously distributed missions in massive, f a s t and precise manners. Especially, UUS has the autonomous missions of docking with UROVs, charging of those battcries, exchange of informations and watch of UROVs. A new type of UROV recently proposed by one of the authors is employed in this concept t o perform a s table oceanographic underwater investigation on a prearranged course. Control configured vehicle (CCV) techonology is adopted t o perform the swimming at t i tude control. Fuzzy algorithm is applied t o guidance of UROV on a prrearranged course t o reason the collision risk against sea bed and forward obstacles, and t o determine control magnitudes o f CCV modes. A s one of feasibility studies of the proposed underwater unmanned survey system, the guidance of UROV fo r rendezvous and docking with UUS, consisting of rough one t o the neighborhood of UUS, and precise one t o the entrance of UUS is numerically simulated taking the effect of t idal current into account.","PeriodicalId":331017,"journal":{"name":"Proceedings OCEANS","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1989-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Guidance and Control of Unmanned, Untethered Submersible for Rendezvous and Docking with Underwater Station\",\"authors\":\"N. Kato, M. Endo\",\"doi\":\"10.1109/OCEANS.1989.586685\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a new concept of underwater unmanned survey system consisting of a mother ship, a launcher, an underwater station(UUS) and a group of unmanned, untethered submersibles (UROVs) t o perform autonomously distributed missions in massive, f a s t and precise manners. Especially, UUS has the autonomous missions of docking with UROVs, charging of those battcries, exchange of informations and watch of UROVs. A new type of UROV recently proposed by one of the authors is employed in this concept t o perform a s table oceanographic underwater investigation on a prearranged course. Control configured vehicle (CCV) techonology is adopted t o perform the swimming at t i tude control. Fuzzy algorithm is applied t o guidance of UROV on a prrearranged course t o reason the collision risk against sea bed and forward obstacles, and t o determine control magnitudes o f CCV modes. A s one of feasibility studies of the proposed underwater unmanned survey system, the guidance of UROV fo r rendezvous and docking with UUS, consisting of rough one t o the neighborhood of UUS, and precise one t o the entrance of UUS is numerically simulated taking the effect of t idal current into account.\",\"PeriodicalId\":331017,\"journal\":{\"name\":\"Proceedings OCEANS\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-09-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings OCEANS\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/OCEANS.1989.586685\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings OCEANS","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.1989.586685","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Guidance and Control of Unmanned, Untethered Submersible for Rendezvous and Docking with Underwater Station
This paper proposes a new concept of underwater unmanned survey system consisting of a mother ship, a launcher, an underwater station(UUS) and a group of unmanned, untethered submersibles (UROVs) t o perform autonomously distributed missions in massive, f a s t and precise manners. Especially, UUS has the autonomous missions of docking with UROVs, charging of those battcries, exchange of informations and watch of UROVs. A new type of UROV recently proposed by one of the authors is employed in this concept t o perform a s table oceanographic underwater investigation on a prearranged course. Control configured vehicle (CCV) techonology is adopted t o perform the swimming at t i tude control. Fuzzy algorithm is applied t o guidance of UROV on a prrearranged course t o reason the collision risk against sea bed and forward obstacles, and t o determine control magnitudes o f CCV modes. A s one of feasibility studies of the proposed underwater unmanned survey system, the guidance of UROV fo r rendezvous and docking with UUS, consisting of rough one t o the neighborhood of UUS, and precise one t o the entrance of UUS is numerically simulated taking the effect of t idal current into account.