Research On Moving Target Componet Forecast Of AUV And The Strategy For Follow Target

The research on target following is a pop field of Autonomous Underwater Vehicle (AUV) technology. Because of the increase intelligence request of AUV, the capability of AUV is not only to complete the detection of the static target, but also can follow the moving target. The main work of this paper aims to research the stratege of moving target following for AUV. The research work includes the following aspects:Firstly, it set up mathematical simulation models for the studied targets, including the mathematical models of non-mobile target and the mobile target. The propulsive system model and motion equation of AUV are also established. This paper presents the AUV's motion control system and body-fixed reference frame. With the configuration of its sensors and principle of PID control, the target trajactive following controller of AUV is designed.Secondly, in order to minimize the expenditure energy of AUV, the strategy of target following is proposed based on the idea of area dividing. According to AUV's observation ability, once the target moves beyond the bounds of the specific region of AUV, the AUV target following controller will be activated to carry out target tracking. The simulating results show that this strategy has the advantage of energy saving by trigger AUV to follow the detected target discontinuously.Thirdly, the paper introduces the grey dynamic predictive model to forecast target moving trajectory which is used for AUV to complete tracking task. Based on the grey modeling of minor swatch and grey dynamic prediction, the method of real-time target trajectory prodiction is realized.At last, according to the research of tracking strategy and prediction of target trajectory, it designed several demonstration cases and make them useful to test the strategy of target follow for AUV and test the feasibility of target trajectory prodiction according to several typical target moving cases. All these simulation results show that the method of target movement parameters prediction and the target following strategy of AUV are available and effective.The target tracking method of AUV plays a significant role in practical implement, for example, AUV can follows an unknown moving vessel or submarine and complete reconnaissance task and data collection.