Multi-sensor-based Autonomous Recovery Guidance for Unmanned Surface Vehicles
Launch and recovery constitute one of the key technologies in the application of unmanned surface vehicles and represent a major bottleneck restricting their utilization in the deep-sea domain.Currently,the recovery of unmanned surface vehicles mainly relies on manual assistance or remote control methods,featuring high safeguard requirements and a low level of intelligence,thus failing to fulfill the need for autonomous recovery of unmanned surface vehicles.To achieve the automatic operation of hook detachment and engagement during the recovery of unmanned surface vehicles,a davit-type automatic launch and recovery device along with its control system is devised.In terms of recovery guidance,a target hook detection and positioning approach based on the fusion of camera and lidar information is proposed.Regarding recovery con-trol,a recovery path tracking control algorithm based on improved integral line-of-sight guidance is proposed.The experi-mental outcomes indicate that under various weather conditions,the RMSE positioning error of the target hook is less than 0.5 m,meeting the requirements for the recovery guidance of unmanned surface vehicles,with a recovery guidance success rate of 80%.This resolves the issue of automatic hook detachment and engagement in the davit-type recovery of unmanned surface vehicles.
unmanned surface vehicleautonomous recoverymulti-sensor fusiondavit-type recoveryguidance and control
NETL
NSTL
万方数据
