Research On Autonomous Homing And Docking Control Of Torpedo AUV Based On Acoustic And Optical Guidance

At present,building a maritime power has become an inherent requirement for China to comprehensively build a socialist modernized power.AUV has shown important application value in marine terrain survey,hydrological environment monitoring,ocean salvage,and even military fields.After a period of underwater operations,due to insufficient energy or task completion,AUVs need to recycle and supplement new energy or extract experimental data.This requires AUVs to be able to complete the recycling task,successfully carry out energy replenishment or data extraction,which involves multiple key technologies.At present,the research focus on AUV recovery lies in the following two aspects: how to complete the homing mission in complex marine environments and provide conditions for subsequent docking tasks;How to complete docking tasks through precise guidance.In response to the above issues,this thesis proposes corresponding control schemes and conducts simulation experiments to verify them.The main work and achievements are as follows:(1)Aiming at the problem of AUV autonomous homing in complex marine environments,a homing algorithm based on acoustic navigation system is proposed,which can re plan waypoints without subsequent docking conditions,improving the stability and fault tolerance of AUV homing.The homing algorithm uses an acoustic baseline system to provide navigation information,which can be used to address the position and attitude requirements of AUVs during homing.Using the Astar algorithm to generate intermediate waypoints,considering the underactuated characteristics of the aircraft,a Dubins path is used to connect the waypoints into a curved path.Subsequently,a time-varying forward looking line of sight adaptive integral guidance algorithm based on LOS is proposed for path tracking,taking into account the efficiency and accuracy of path tracking,and providing favorable conditions for future docking tasks.The feasibility of the homing algorithm was verified by simulating various homing tasks through ROS simulation experiments.(2)Aiming at autonomous docking of AUVs in complex ocean situations,an autonomous docking scheme based on Perspective-n-Point(Pn P)is adopted.This docking method takes into account the complexity of the underwater environment and uses an active light array to guide the docking operation of the AUV.After completing the initial homing mission of the AUV,the camera located at the front end begins to detect,identify the information of the light group,and obtain the relative position of the docking device.A backstepping Sliding mode control is proposed for docking operation,and the feasibility of the algorithm is verified through ROS simulation experiments.On this basis,the expected yaw angle is modified by considering the influence of ocean current,which has a certain anti-interference ability.This thesis focuses on the autonomous homing and docking problem of torpedo type underactuated AUV,conducts in-depth research on navigation information acquisition,path planning,and path tracking methods,proposes corresponding control schemes,builds a simulation platform in the ROS system,establishes a model for simulation experiments,and verifies the effectiveness of the proposed method.It has certain guiding significance for the autonomous homing and iterative docking problem of AUV.