分析水下运动平台回收无人航行器对接过程所处的环境特点与运动姿态特征，建立水下动平台与无人航行器回收过程模型，将回收过程分为跟随段、调整段、对接段和回收段。根据调整对接的水下导引控制特性，提出无人航行器对接路径基准轨迹生成模型，建立无人航行器回收对接航路点生成方法，并采用三次插值对航路点进行平滑，形成了水下动平台与无人航行器的对接路径，通过案例仿真计算分析，表明提出方法的有效性。
Through analyzed the motion attitude on unmanned underwater vehicle(UUV) Underwater docking oriented moving platform in this paper, the recovery processing model of underwater moving platform and UUV is established, then the recovery process is divided into four sections, such as following section, adjustment section, docking section and recovery section. Based on the guidance and control characteristics of docking and recovery oriented double moving platform, the foundation track generation method is proposed for docking path, and the way of route-points generated for docking and recovery UUV is established, and cubic interpolation algorithm is used to smooth the route-points, then the docking path between underwater moving platform and UUV is formed. Simulation analysis demonstrated the effectiveness of the proposed method.
2019,41(5): 39-43,48 收稿日期：2018-06-20
DOI：10.3404/j.issn.1672-7649.2019.05.008
分类号：TP273
基金项目：国家自然科学基金资助项目（61502037，61772152）；智慧海洋联合实验室资助项目
作者简介：李震(1977-),男,副教授,研究方向为系统安全性、系统可靠性
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