POSE DETECTION AND CONTROL OF UNMANNED UNDERWATER VEHICLES (UUVs) UTILIZING AN OPTICAL DETECTOR ARRAY

摘要

Optical detectors and methods of optical detection for unmanned underwater vehicles (UUVs) are disclosed. The disclosed optical detectors and may be used to dynamically position UUVs in both static-dynamic systems (e.g., a fixed light source as a guiding beacon and a UUV) and dynamic-dynamic systems (e.g., a moving light source mounted on the crest of a leader UUV and a follower UUV).

主权项

1. An optical detector comprising:
a plurality of light sensors; at least one controller coupled to the plurality of light sensors and configured to:
receive a plurality of signals acquired from a light source by the plurality of light sensors;determine a first pose of the optical detector relative to the light source based on the plurality of signals;determine a second pose of the optical detector relative to the light source based on the plurality of signals;calculate a difference between the second pose and a target pose;determine a velocity of the optical detector relative to the light source based on the difference;determine at least one command based on the difference and the velocity; andtransmit the at least one command to adjust a trajectory of the optical detector.