Launch and Recovery of an Autonomous Underwater Vehicle From a Station-Keeping Unmanned Surface Vehicle

摘要

In-water tests of automated launch and recovery (L&R) of a Hydroid REMUS 100 autonomous underwater vehicle (AUV) from a station-keeping 16-ft wave adaptive modular vehicle unmanned surface vehicle (USV) have been conducted to determine the feasibility of developed concepts of operation. The USV is a catamaran with a custom-configured propulsion system that enables it to maintain position and heading on the surface. AUV launch is accomplished through lowering the AUV from the USV top tray to the water surface and releasing it. Recovery is initiated through requiring the AUV to navigate toward an acoustic homing beacon on a taut line suspended from the USV. The taut line serves as docking target and as a connecting link between the two vehicles during L&R. During these operations, the USV approximately keeps station on the water surface. Once the docking is complete, the USV moves forward, towing the AUV as it is extracted onboard the USV via a customized winch mechanism. It was found that for appropriate environmental conditions, L&R of the AUV from a station-keeping USV is an effective alternative to the mobile L&R method using the same vehicles, with the same launch and recovery system.