Real-time 3D Path Planning For Sensor-based AUV In Unknown Environment

Autonomous Underwater Vehicle(AUV) is one kind of important underwater equipment . It has profound meaning to develop the technology of the AUV at econmic territory and in matrial and politics struggle. Path planning is a important subject in the navigation system of the robotic. The robotic may meet with the unknown obstacle at the path planned, so it is necessary to plan path on-line based on sensor in the system of the navigation. The ability avoiding obstacles is the reflection of the adaption to the environment.The paper studies path planning strategies on real-time because of robitic moving in the space under the ocean. Based on the sensor vision zone and AUV attitude dynamics, a 3D near-shortest path planning algorithm is developed for the AUV in the unknown environment.The paper studies the AUV hydrodynamics model , the mathmaticals model of the closed control system based on the data from AUV moving and the obstacles avoidance control system based on th rule. The result of simulation demonstrate that the algorithm are powerful and reliable for the 3-D path planning of the AUV in the unknown environment and it can be generally used to on-line plan 3-D path for other kind robots.The operating system of QNX is the real-time, muti-task, muti-user embedding system .The path planning is simulated on the operating system of QNX for the meeting of the real-time. The paper describes the structure of operating system of QNX.The paper describes the experiment of the vehicle six dimension. That validates the real-time path planning for sensor-based AUV in unknown environment...