Unmanned recovery of an AUV from a surface platform manuscript, oceans '13 MTS/IEEE San Diego

Autonomous Underwater Vehicles (AUVs) are commonly used for a variety of applications, which require launch and recovery (L&R) of the vehicle from a surface craft. Here we describe work in support of an automated recovery of an AUV from an unmanned surface vehicle (USV), whereby longer endurance / range may be achieved for such applications as underwater surveys of remote sites. This may be one of many possible complex scenarios that involve multiple unmanned autonomous vehicles of various types working together autonomously to complete a multitude of tasks, maximizing their combined performance. The AUV used in this project is the Hydroid REMUS 100. The USV, which will serve as the moving surface platform that recovers the AUV, is a 14 foot Wave Adaptive Modular Vessel (WAM-V). In order to implement this type of system, various L&R methods need to be studied and analysed. This will help define a precise working environment, in which the system will be effective. Conceptual designs of two different recovery systems have been considered. For each design, an operating environment is defined, based on the characteristics of the model. Merits of each approach are being evaluated. To do so, “simple proof of concept prototypes” are built to test the feasibility and the effectiveness of each design. Here we describe one of the methods being considered. The main areas of focus of this project are device reliability, repeatability, robustness and precision. The desired outcome of this project is to provide a clear understanding of the ideal recovery method. The results of these studies will facilitate implementation of an effective automated recovery system, aiming to achieve a high degree of autonomy.