中文摘要：

针对欠驱动自主水下航行器（autonomous underwater vehicle,AUV）的自主回收问题,提出了基于偶极势场的一种回坞导引算法。将回坞过程分为回坞准备阶段和回坞阶段,其中回坞准备阶段利用航路点导引为AUV规划出一条路径,使AUV到达回收站的一定范围之内,保证AUV可以对回收站上的两个应答器进行准确定位;而回坞阶段AUV根据获得的应答器的测量位置计算出AUV在对接系下的坐标,利用建立的偶极势场导引AUV沿入口方向进入回收站。采用自适应非奇异终端滑模控制,保证航向角跟踪控制的鲁棒性和自适应性。仿真结果表明,所设计的回坞导引算法是有效的。

英文摘要：

To solve the intelligent docking problem of an under-actuated autonomous underwater vehicle（AUV）,a dipolar field-based homing guidance method is proposed.The total docking process is composed of two phases,namely the preparation phase and the homing phase.In the preparation phase,by using the conventional line-of-sight way-point guidance,the AUV approaches to the station over a certain distance where the AUV can locate the transponders accurately.In the homing phase,the AUV obtains its coordinates in the global docking frame using the measured locations of transponders,and moves to the station along the entrance direction under the dipolar field-based guidance.The adaptive non-singular terminal sliding mode control is used to ensure the robustness and adaptability of yaw angle tracking.Simulation results validate the effectiveness of the proposed homing guidance strategy.