Influence of Route Planning of Underwater Wire-guided Vehicle on Reliability of Wire Deployment

Due to the limitation of the wire that is deployed out of the vehicle, the underwater wire-guided vehicle has the risk of wire breakage at the intersection of the route during the vehicle navigation process. In this paper, the boundary conditions of wire deployment with tension constraint and variable wire length on both sides are proposed, and a dynamic model of wire deployment is established using the lumped-mass method. The influence of route planning on the reliability of the wire deployment is analyzed. The underwater shapes of wires that have been deployed are simulated under the conditions of different gyration running times and deployment resistances. A method to reduce the probability of wire breakage at the intersection of the vehicle route is proposed, in which the gyration running time should be longer than the wire sinking time corresponding to the flow field influence area of the underwater vehicle. The method is proven to be effective through the gyration running experiments of underwater vehicles, and setting a reasonable gyration running time can reduce the probability of wire breakage at the intersection.