Title :
A launch and recovery system for an autonomous underwater vehicle `Explorer´
Author :
Ditang, Wang ; Shouquan, Kang ; Yulin, Guan ; Yang, Lin ; Dalu, Liu
Author_Institution :
Underwater Lab., Shenyang Res. & Dev. Centre of Robot., China
Abstract :
The authors discuss the launch and recovery system (LRS) of the autonomous underwater vehicle (AUV) Explorer which can work normally at the working water depth of 1000 m in sea-state four without a special support ship. To eliminate the influence of roll motion and heave motion of the support ship on the LRS, a launcher is used for the recovery of the Explorer. Although the boom frame of the launcher slides up and down as the boom tip of the support ship heaves, the launcher´s frame is kept controlled in a certain water depth by using vertical thrusters to ensure that the Explorer can enter the launcher by navigation and the sailing control system. The Explorer is protected by the launcher´s frame
Keywords :
marine systems; navigation; position control; Explorer; autonomous underwater vehicle; heave motion; launch and recovery system; navigation; position control; roll motion; sailing control; sea state 4; support ship; Control systems; Laboratories; Marine vehicles; Navigation; Protection; Research and development; Robots; Stability; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-0704-6
DOI :
10.1109/AUV.1992.225222
