无人水面艇自主部署自主水下机器人平台技术综述  

Review on the Platform Technology of Autonomous Deployment of AUV by USV

作　　者：郑荣[1,2] 辛传龙[1,2,3] 汤钟 宋涛[1,2,5] ZHENG Rong;XIN Chuanlong;TANG Zhong;SONG Tao(State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, Liaoning, China;Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, Liaoning, China;University of Chinese Academy of Sciences, Beijing 100049, China;Unit 91039 of PLA, Beijing 102401, China;School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, Liaoning, China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049 [4]91039部队,北京102401 [5]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《兵工学报》2020年第8期1675-1687,共13页Acta Armamentarii

基　　金：中国科学院战略性先导科技专项项目(XDA13030294)。

摘　　要：自主水下机器人(AUV)和无人水面艇(USV)作为组建海底空间站和观测网的重要工具,在近30年间,其相关技术蓬勃发展,逐步由单体控制向多海洋平台协同协作方向发展,其中利用USV自主布放回收AUV成为新的研究热点。综述了基于USV对AUV进行动态部署平台的最新进展;基于系统学观点从拖曳稳定性、拖曳动对接准确性和拖曳对接快速性3个方向来阐述USV部署AUV平台关键技术的研究和应用现状,总结了提高部署平台拖曳稳定性的措施,并对USV自主部署AUV平台的研究方向和研究重点进行了展望。In the past 30 years,autonomous underwater vehicle(AUV)and unmanned surface vehicle(USV)were the important tools for constructing undersea space station and observation network.And its relevant technologies have been developed from single offshore platform control to multi-platform cooperation.Among them,the use of USV to independently launch and recycle AUV has become a new research hotspot.This paper reviews the latest development of dynamic deployment platform for AUV based on USV.Based on the viewpoint of system science,the key technologies of USV deployment AUV platform are expounded from three aspects:towing and docking stability,accuracy and rapidity.The measures to improve the towing stability of deployment platform are summarized,and the research direction and emphasis of platform technology for autonomous deployment of AUV based on USV are prospected.

关 键 词：自主水下机器人 无人水面艇 自主布放回收 水下拖曳系统 拖曳稳定性 拖曳动对接 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]