Planning Method For AUV Region Reconnaissance Under Ocean Current

Based on the research project and analysis of the property of the itself and the uncertain environment, the paper proposes methods for AUV region reconnaissance under the ocean current. The simulation results indicade that the methods provide the robot with higher intelligence.Considering the effect of ocean current on AUV, the paper designs two planning methods of identification as reconnaissance and identification after reconnaissance. Based on the theory of optimal cell decompositions, uses the coordinate search algorithm, suggests the method of cutting the region according to ocean current. In the task of local reconnaissance and identification, suggests the method of seeing against the ocean current and corresponding algorithm, realizes the requirement of task and improves the control property of AUV.Considering the complexity and part icularity of the motion of AUV, the paper uses the fuzzy logic theory to solve the effect of ocean current in such task as approaching obstacle, changing the cell or go i ng back.In the later method, suggests the concept of weighted journey based on the angle between AUV and ocean current, uses optimal result of TSP to solve the problem of global path planning.Because the considerations of effect of ocean current on AUV and the corresponding methods, the abilities of autonomous planning andmotion control of AUV are improved. The simulation results prove the methods are effective and feasible.