Review on the Platform Technology of Autonomous Deployment of AUV by USV [无人水面艇自主部署自主水下机器人平台技术综述]

作者：Zheng R.; Xin C.; Tang Z.; Song T.

来源：Acta Armamentarii, 2020, 41(8): 1675-1687.

DOI：10.3969/j.issn.1000-1093.2020.08.022

• Autonomous launch and recycling
• Autonomous underwater vehicle
• Towed dynamic docking
• Towing stability
• Underwater towed system
• Unmanned surface vehicle

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.

• 单位
  东北大学; 中国科学院大学; 机器人学国家重点实验室