Research On Real-time Motion Planning Of AUV Under Ocean Current Environment

Based on the research project and analysis of the specialities of AUV'S and its uncertain work environment, the paper proposes methods of AUV'S real-time path planning under the ocean current environment. The simulation results show that the methods provided enhance the validity of AUV'S real-time path planning.Considering the effect of ocean current on AUV, the paper uses the method of cutting the region according to ocean current. The reformative method that based fuzzy rule and took current effect into account has been used in AUV'S obstacle avoidance. Against the ocean current method and corresponding algorithm has been used when AUV identifying object. The paper also proposes return navigation planning way. These are helpful for AUV work better in the ocean current environment.Considering the complexity and particularity of AUV'S work condition, especially the existence of ocean current work on AUV'S control performance and its real-time task execution, a new planning and control mechanism based on the analyses and researches of AUV'S control system frame is presented. This method adds the compare and supervise cell of executed results feedback to layered control system, the results of compare and supervise decide whether the re-planning is needed or not. Realized the AUV'S planning integrate the control in the complicated condition.Considering the key problem that accurately position the objects in AUV region reconnaissance, the paper discusses the reasons of orientation error appears and presents several feasible solve methods and these methods' shortages based on the theory analysis.The paper considers the ocean current's effect on AUV in every planning phase and uses corresponding methods, the abilities of planning and motion control of AUV are improved. The simulation results indicate the methods are effective and feasible.