Technical Research, System Design and Implementation of Docking between AUV and Autonomous Mobile Dock Station
ZHENG Rong1,2, Lü1,2,3, Houquan1,2, HAN Xiaojun1,2, LI Mozhu1,2, WEI Aobo1,2,3
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China
郑荣, 吕厚权, 于闯, 韩晓军, 李默竹, 魏奥博. 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.DOI: 10.13973/j.cnki.robot.180753.
ZHENG Rong, Lü, Houquan, HAN Xiaojun, LI Mozhu, WEI Aobo. Technical Research, System Design and Implementation of Docking between AUV and Autonomous Mobile Dock Station. ROBOT, 2019, 41(6): 713-721. DOI: 10.13973/j.cnki.robot.180753.
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%.
[1] Sato Y, Maki T, Kume A, et al. Path replanning method for an AUV in natural hydrothermal vent fields:Toward 3D imaging of a hydrothermal chimney[J]. Marine Technology Society Journal, 2014, 48(3):104-114.
[2] Choyekh M, Kato N, Short T, et al. Vertical water column survey in the Gulf of Mexico using autonomous underwater vehicle SOTAB-I[J]. Marine Technology Society Journal, 2015, 49(3):88-101.
[3] Hardy T, Barlow G. Unmanned underwater vehicle deployment and retrieval considerations for submarines[C]//Proceedings of the Institute of Marine Engineering, Science and Technology-INEC 2008:Embracing the Future. London, UK:Institute of Marine Engineering, Science and Technology, 2008.
[4] 张奇峰,张运修,张艾群.深海小型爬行机器人研究现状[J].机器人,2019,41(2):250-264.Zhang Q F, Zhang Y X, Zhang A Q. Research status of benthic small-scale crawling robots[J]. Robot, 2019, 41(2):250-264.
[5] Fletcher B, Martin S, Flores G, et al. From the lab to the ocean:Characterizing the critical docking parameters for a free floating dock with a REMUS 600[C]//Oceans 2017. Piscataway, USA:IEEE, 2017:1-7.
[6] Gillis C. Dynamic model development and simulation of an autonomous active AUV docking device using a mechanically actuated mechanism to recover AUVs to a submerged slowly moving submarine in waves[D]. Fredericton, Canada:University of New Brunswick, 2014.
[7] Feezor M D, Blankinship P R, Bellingham J G, et al. Autonomous underwater vehicle homing/docking via electromagnetic guidance[C]//Oceans 97 MTS/IEEE Conference. Piscataway, USA:IEEE, 1997:1137-1142.
[8] Allen B, Austin T, Forrester N, et al. Autonomous docking demonstrations with enhanced REMUS technology[C]//Oceans 2006. Piscataway, USA:IEEE, 2006. DOI:10.1109/OCEANS.2006.306952.
[9] McEwen R S, Hobson B W, McBride L, et al. Docking control system for a 54-cm-diameter (21-in) AUV[J]. IEEE Journal of Oceanic Engineering, 2008, 33(4):550-562.
[10] Li Y, Jiang Y Q, Cao J, et al. AUV docking experiments based on vision positioning using two cameras[J]. Ocean Engineering, 2015, 110(A):163-173.
[11] Li B, Xu Y X, Fan S S, et al. Underwater docking of an under-actuated autonomous underwater vehicle:System design and control implementation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8):1024-1041.
[12] 吕厚权,郑荣,魏奥博,等.面向回坞任务的AUV航向控制方式研究[J].海洋技术学报,2018,37(6):15-21.Lv H Q, Zheng R, Wei A B, et al. AUV heading control method research based on docking mission[J]. Journal of Ocean Technology, 2018, 37(6):15-21.
[13] 吴泽伟,吴晓锋.基于有限时间系统同步的自治水下航行器回收控制[J].自动化学报,2013,39(12):2164-2169.Wu Z W, Wu X F. Recovery control for autonomous underwater vehicle based on finite-time synchronization of systems[J]. Acta Automatica Sinica, 2013, 39(12):2164-2169.
[14] Braga J M A. Control of underwater vehicle on autonomous docking maneuvers[D]. Porto, Portugal:Universidade do Porto, 2010.
[15] Hydroid Company. Underwater mobile docking of autonomous underwater vehicles[C]//Oceans 2012. Piscataway, USA:IEEE, 2012. DOI:10.1109/OCEANS.2012.6405109.
[16] Piskura J C, Purcell M, Stokey R, et al. Development of a robust Line Capture, Line Recovery (LCLR) technology for autonomous docking of AUVs[C]//MTS/IEEE Oceans Conference. Piscataway, USA:IEEE, 2016. DOI:10.1109/OCEANS.2016.7761255.
[17] Zhang L. An design method of underwater positioning system based on USBL[J]. Applied Mechanics and Materials, 2014, 644-650:968-972.
[18] 张道平.超短基线定位系统的误差分析[J].海洋学报,1989,11(4):510-517.Zhang D P. Error analysis of ultra short baseline positioning system[J]. Acta Oceanologica Sinica, 1989, 11(4):510-517.
[19] Abdurahman B, Savvaris A, Tsourdos A. A switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles[J]. IFAC-PapersOnLine, 2017, 50(1):2290-2295.
[20] Marco D B, Healey A J. Command, control, and navigation experimental results with the NPS ARIES AUV[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4):466-476.