Research And Improvement Of Path Planning Method For Autonomous Underwater Vehicles

Since the21st century, in the context of the increasing scarcity of land resources,moreand more attentions have been paid to the study of marine resources, development andutilization. Autonomous underwater vehicle’s development is outstanding, andautonomous underwater vehicle (AUV) has become a hot research field. AUV technology isone of the important branches of robotics, which has broad application prospects. In recentyears, the development of the AUV research is at a high speed. AUV has been applied tomarine research, commercial areas and military fields, which is playing an more and moreimportant role.In order to respond to the complicated marine environment, the AUV must have thecharacteristics of security and autonomy. Autonomy reflects the ability of interactionbetween AUV and the underwater environment. The real-time control and autonomousplanning play important roles in interaction. The key technology to ensure AUV’s securityand autonomy is the intelligent control technology, including autonomous planning, controland status monitoring. The robot technology is more than one high-tech science andblendind with each other, in order to enhance the level of intelligence of the intelligentunderwater robots, and advance the process put into practical application, the AUVautonomous planning, information fusion, artificial intelligence, self-monitoring technologymust be studied in depth.Firstly, this paper introduces the research status and development prospects of thedomestic and abroad autonomous underwater vehicle path planning, and analyzes theadvantages and disadvantages of various methods. The paper is a preparation for in-depthstudy path planning and application to solve practical problems.Secondly, this paper discusses a variety of typical features of the searching algorithm,introduces a method of whole path planning based on tabu search,in the solution spacestructure of the hierarchical model’s importance of path tasks,by the heuristic strategy,which uses multiple tabu list to avoid duplication of the search process, obtains a moresatisfactory planning path by effective resource.The rules of this method are diverse,adaptable,able to meet the requirements of the different search rules, which can be used toefficiently complete the whole path planning of underwater robot.Finally, on the basis of detailed analysis of the characteristics of artificial potentialfield method, this paper discusses the path planning function of gravity and repulsion functions that may result from defects.In this method, information collected by sonar will beused for path discovery and obstacle collision avoidance for AUV by the new description ofthe environmental information and description of target information. By dynamicallyadjusting the gravity function and repulsion function, timely adjustment of AUV is made.The resolution is successful at changing the disadvantages of traditional methods,improving the robot obstacle avoidance capability and the performance of discovering thepath of the traditional artificial potential field method.