Research On The Path-Planning Method Of UUV In The Process Of Recovery

With the rapid development of science and technology,Unmanned Underwater Vehicle(Unmanned Underwater Vehicle,UUV)gets more and more attention of countries and individuals in military and civilian aspects,and the path planning is an important guarantee for UUV to finish the multifarious missions.Therefore,aiming at the problems existing in the UUV path planning to in-depth research,it is a great significance for UUV to be applied in control theory and engineering practice.According to the specific problem of design constraints,the path planning of UUV is no collision risk of the optimal path(or sub optimal path)in a certain marine work environment,witch is search out from the designated starting point to the target point.In this article,through analyzing the characteristics of UUV underwater path planning in the process of recycling,the path planning problem of UUV is divided into three questions from the task completion point to the tail of the underwater collector,and puts forward the underwater path planning method of UUV in the process of recycling.This article main research content is as follows:Firstly,this paper introduces the process of UUV recovery,and based on this,the path planning problem of UUV from the point of the task to the tail of the underwater collector is analyzed in detail.It is divided into the off-line path planning problem for known Marine environment,the real-time path planning problem for moving obstacle,reaching the tail of the underwater collector must have certain rudder.Then based on the theory of UUV kinematics model,considering the current influence on the UUV movement and itself highly nonlinear problems,establishing mathematical model provides a mathematical foundation basis for subsequent path planning.Secondly,an improved A* algorithm is used to design the off-line path planning method for known marine environment in the process of recycling of UUV,which can realize the offline path planning in the marine environment.At first,the principle of the traditional A*algorithm are introduced,then,based on the analysis of the shortcoming of the traditional A*algorithm and taking into account the seaworthiness of the planning path to introduce searching consecutive neighbourhoods.Then,combining searching consecutive neighbourhoods with A* algorithm to design the off-line path planning method under the known marine environment in the recycling process of UUV.Then,the path cost function andheuristic function design respectively.At last,through simulation experiments,verifying the feasibility of the method.Thirdly,aiming at the problem of online real-time path planning for obstacle avoidance,the grid map online environment modeling is established by the information received by the sensor UUV forward looking sonar,using D-S evidence theory to update The grid units in real time.The path planning strategy is formulated based on the relative motion relationship of obstacles and UUV and the safety requirement.the online path planning based on biological inspired model,considering UUV’s mechanical characteristics,basing on collision detection and obstacle avoidance mechanism,puting forward improved biological inspired model to realize the UUV real-time obstacle avoidance.At last,through simulation experiments,verifying the feasibility of the method.Finally,the method of artificial potential field guidance is presented for the problem that the tail of the UUV reaches the underwater recovery unit must have a certain rudder to the requirements.For the problem that the UUV reachs the tail of the underwater collector must have certain rudder,this article puts forward a method of artificial potential field method to guidance.By the size of the water collector and UUV itself size set a can meet the requirements of UUV rudder navigable arc at the end of the underwater collector.In the artificial potential field method,the UUV plan navigation on the arc.Then UUV along the arc track safety route to reach the tail of the underwater collector to achieve the overall planning of the path in the process of recycling.At last,through simulation experiments,verifying the feasibility of the method.