{"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}
引用次数: 12
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.