This paper puts forward an autonomous docking control method on underwater vision guidance to solve the autonomous control problem of underwater recovery of unmanned submersible vehicles by deep-sea manned submersibles. A docking trajectory rolling generating algorithm is designed based on a polynomial method. The trajectories generated by the algorithm present good smoothness, stability, and real-time performance. Besides, a four-degree-of-freedom docking trajectory tracking controller based on the BP neural network PID self-tuning control method is proposed and the stability of the controller is proved. Simulations show that it has better adaptability, robustness, and dynamic performance than traditional PID controllers. In addition, an autonomous docking control system designed by this method is verified by pool tests. Test results demonstrate that this system has good adaptability and control accuracy under no obvious water-flow conditions, which also suggest that this method is rational and feasible. Conducting pool tests with water-flow interference to verify the robustness of this docking system will be the future work.
Research on Autonomous Docking Control for Underwater Recovery of Unmanned Submersible Vehicles
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023
Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) ; Kapitel : 18 ; 187-200
21.04.2024
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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