Development of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station
Russian Fedearation, Taganrog, Nekrasovskiy, 44, GSP-17A
Underwater vehicles (UV) are widely spread nowadays. Their efficient application requires accompanying base ships or net of stations for technical servicing. Fast and energy-efficient docking is one of the key requirements for trouble-free operation. In this paper authors describe the research and development of algorithms for UV control system that allows docking with underwater station. The process is divided in two steps: moving to docking zone and vehicle positioning of station. First task includes development of path regulator. The proposed one features separation of control channels for simple adjustment and gives best results when multicoupling influence is low. Second task was solved on the basis of UV mathematical model. Developed control values were tested in simulation and proved themselves to be efficient. Authors give results of coordinate changes, control force modifications and deviation of velocity and orientation angles from the required values.
© Owned by the authors, published by EDP Sciences, 2015
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