The Research Of Real-time Motion Planning Of AUV Based On Energy Consumption

With the development of the sea, more and more international and domestic researchers apply themselves to the development of autonomous underwater vehicle (AUV) which can explore the underwater circumstance and accomplish missions. Automation and safety are the main characters of AUV. And the mean of autonomous ability refers that underwater vehicle is of the interactive ability with external environment. The important aspect of interactive ability is the ability of autonomous movement plan. However, for non-cable unmanned AUV, diminutive power source which can be prolonged use has not yet reached the level of practical. So it is one of the important issues for non-cable unmanned AUV that energy can be effectively utilized. So based on the operation of energy minimization motion planning is of great realistic significance.In view of the issue that real-time motion planning in unknown environment, the approach which is based on behavior structure is proposed on the AUV motion planning. And both of the coordinated approach which is based on behavior selection strategy and the coordinated approach which is based on behavior fusion are researched. Through experimental simulation the two coordinated strategies are compared and analyzed. To the further research on the issue of energy consumption in the process of study and discussion, this thesis makes research for AUV motion control systems, and a sort of motion control method based on neural network is proposed. The simulation experiment which is combined with planning and control was done. And the results of the simulation experiment verify the validity of the planner and controller.On basis of the real-time motion planning based on behavior fusion and the motion control study based on neural network for underwater vehicle, to resolve the problem that how the energy use effective in the process of the real-time motion planning in unknown environment, this thesis conducts a study on the real-time motion planning problem based on energy consumption for underwater vehicle in unknown environment. To improve and enhance the performance of AUV motion, it is difficult to achieve the ideal effect, simply from the control aspect or from the motion planning aspect. So, the thesis makes predictive control introduce the idea of planning, considers combining planning technology and the expected impact of the implementation of control, and proposes a kind of multi-step forecast planning and single-step implementation of the control method. Based on the energy consumption the real-time motion planning and control issues are studied for AUV. Simulation and experiment verify the validity of the method in the thesis.