Abstract
In order to realize unmanned tracking for underwater robots under weak communication, a method for autonomous tracking underwater robot (AUV) using unmanned surface vehicle (USV) is proposed. The approach consists of a navigation component that computes the desired heading angle and velocity to ensure that the USV moves along the path. The safe domain of USV and the distance between USV and AUV are designed to avoid danger of collision. Both the velocity and heading tracking controllers are designed based on the three freedom dynamics equations of USV, and the safe distance is set by the way of desired controlling objective value in velocity tracking controller. The designed controllers realize exponential tracking of distance, velocity and heading through state feedback. Sample points of moving state are updated dynamically to predict the next position of AUV during the period of broken communication. The simulation and lake experiment showed that the USV could autonomously track underwater robot with stability and continuity by the proposed algorithm in the environment with complex acoustic communication. The results are satisfactory.
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