本文以某型7.6 m柴油动力小艇为研究对象，开展基于尾滑道的无人艇自主引导回收系统的设计与开发。该系统主要由无人艇端自动控制模块和母船端监控引导模块两大部分组成。在完成各功能模块研制的基础上，开展了无人艇上下位机通信、数据采集与传输、远程手动遥控、无人艇回转特性与速度特性以及无人艇自主引导回收模拟试验等相关测试。测试结果表明，系统具有较好的响应性、稳定性及无人艇操控性能，能较好地满足无人艇自主返航及引导回收的要求。本文研究为实现无人艇自主引导回收提供重要的基础保障。
This paper took a certain type of 7.6 m diesel powered boat as the research object, and an autonomous guided recovery system for USV was developed. The system was mainly composed of two major parts: the control module in unmanned boat and the monitoring module on mother ship. After completing the design of each subsystem, the system test, the USV rotation and speed performance test and autonomous guided recovery test on the lake were carried out, which verified the good control performance of USV. The test results show that the developed system has good responsiveness, stability and controllability, and can better meet the requirements of autonomous return and guidance and recovery of unmanned boats. The research work in this paper provides an important basic guarantee for the realization of autonomous guided recovery of unmanned boats.
2023,45(11): 88-93 收稿日期：2022-07-26
DOI：10.3404/j.issn.1672-7619.2023.11.017
分类号：U664.12
基金项目：海军“十三五”预研项目
作者简介：叶晓明(1975-),男,博士,副教授,研究方向为智能装备、人工智能与无人驾驶技术等
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