Application Of Configuration-Space Geometric Theory In AUV Path Plan

Autonomous Underwater Vehicle (ab.AUV) is an integration of high technology. As the development of AUV, toward wide area, great depth, long endurance and multi-purpose manipulations, calls every related technology to meet the demand of it, the technology of path plan as an important aspect of autonomous ability has to be made adaptive to these new developing tendencies. Aiming at solving the path plan problem of AUV in 3-D wide area, this paper propounds a new arithmetic based on C-space geometric theory.Firstly, C-space theory is used to build the three-dimensional environment model. The obstacles in wide ocean space are simulated by regular geometric solid. To simplify the path planning in 3-D environment, AUV is condensed to a particle and obstacles are expanded to a certain radius according to the AUV's shape and size and its motion characteristics. As a result, an obstacle information set with highly condensed obstacle knowledges is obtained and this greatly cut down the expressive complication of large three-dimensional space.Secondly, a path-plan theory based on the above C-space obstacle model is created by the simulation of elastic characteristics. The shortest path between two spots on a regular geometric solid is solved and using this result, the overall shortest path in the observed space is obtained. In complicated multi-obstacle enverornment, use "angle" choice parameter list to escape ingeniously the local minimum and get the overall shortest path.Finally through the result of the path simulation and the cases simulation, the path-plan algorithm was proved correct, fast, effective and flexible. This algorithm can rapidly manage the path-plan problems in large three dimensional ocean space with ocean current. Moreover, the interfacing connection to tasks is also developed, so the algorithm is practically applicable.