Intelligent Observing Technology For Unmanned Marine Controllable Exploring Vehicle

The unmanned marine controllalbe exploring vehicle is a class of integrated observing vehicle which can be controlled, extended and can move flexibly. They can be used as towed, manual, semi-autonomous and absolutely autonomous mode, which have been one of the usual ocean observing facilities, and the kind of these vehicles will be one of the most important vehicles for the future way of intelligent observation.Now the applications of the unmanned marine controllable exploring vehicle are usually used by manual mode to design the corresponding parameters for ocean observation, such as sampling frequency, interval and so on. So the intelligent observing strategy for these vehicles, and how to change"passtive observing"to"positive observing", will be the important factor to restrict their application and improvement for their observing abilities. According to the vehicles'number, the ocean intelligent observation can be simply composed by a single vehicle's adaptive observing and muti-vehicles cooperative observing. Since the coverage area of of a single vehicle's adaptive observation was often small, and it could't finish some autonomous observation. For muti-vehicles cooperative observing, not only formation control, but also cooperative measurement, the construction of corresponding theory is the hotspot and diffculty now.The research of intelligent observation is developed based on two kinds of the unmanned marine controllable exploring vehicles-Unmanned Surface Vehicle and Towed System, which contains USV's construction, the adaptive observing of a towed system and an USBv, and cooperative observing of muti-USVs. Our contributions are as following,(1) An Unmaned Surface Bathymetry vehicle (USBv) is developed as one of basic vehicles for our intelligent observing. The USBv's hydrodynamic model is developed and validated by contrasting with lake and sea trials which contain straight line's movement and turning movement. Based on the result, some autonomous control charecters are completed using its vector propelled mode, such as velocity and heading control, waypoints tracking, which can supply the basis abilities for its intelligent observing.(2) A single vehicle's adaptive observation: Based on the hydrodynamic model of towed system, the semi-analysis model is developed using its fixed depth and profile motion's data, which is used in the isothermal layer's adaptive tracking's research; Based on the USBv's hydrodynamic model, the oscillating motion is used in USBv's adaptive isobath tracking.(3) The muti-vehicles'cooperative observing: An self-propelled particles'model for variable velocities is introduced, and three spacial synchrony parallel formations are developed by designing the heading and velocity control laws, and its convergence is proved, which are used in muti-USBv's cooperative formation. The regressing method for observing field based on radial basis function is introduced for muti-USBv to observe the extremum area in the depth field.