A USV-Based Automated Launch and Recovery System for AUVs

Abstract

In this paper, a concept design for automated launch and recovery (L&R) of a small autonomous underwater vehicle (AUV) from an unmanned surface vehicle (USV) is described and its feasibility is assessed through modeling and simulation. The design is being implemented on a selected catamaran USV for deployment of a REMUS 100 AUV. The concept for launch involves lowering the AUV into the water from the center of the USV while the latter is in motion. Recovery and retrieval involves aligning the two vehicles together through acoustic positioning, lowering of a thin line with an outrigger-type depressor wing from a winch on the USV, latching of the line by the AUV using a custom pincer-type onboard mechanism, and subsequent reeling of the line for vehicle retrieval. The USV being considered can operate effectively in low to moderate sea states. The length of the recovery line can be adjusted to facilitate AUV recovery from deeper locations beneath the USV in higher sea state. The L&R process is modeled in OrcaFlex to assess its feasibility and to conduct a parametric study in support of developing optimal operations of the launch and recovery system (LARS). The resulting system is being implemented on a USV.