Research On UUV Simultaneous Detection And Patrolling Based On Laser Scanner

The problem of using unmanned underwater vehicle(UUV)to explore the unknown underwater environment is a hot and difficult research at home and abroad,the water environment is very complex,underwater environment detection need to overcome more difficulties,so the research of using UUV to exploring unknown underwater environment is very important.This paper has researched on Simultaneous Detection and Patrolling of an UUV,and using laser scanner to collect data.The paper studies problems of Data preprocessing,Map building,Path point extraction and path tracking.The main content of this paper is as follows:Firstly,the UUV six-freedom-degree kinematic model and dynamic model is established in the fixed coordinate system and the moving coordinate system.In order to meet the command of UUV horizontal path tracking,UUV model is simplified into three-freedom-degree model.The simulation shows the Effectiveness,it prepares for the designing of ISM.Secondly,An algorithm of wavelet-based clustering of UUV patrolling contour construction is proposed based on the feature of data that laser scanner obtained.The algorithm is divided into three steps: the first step is local wavelet-based clustering algorithm,it gives potential isolated set and classes set by clustering points which in the vision of UUV,the second step is global clustering decision,it gives isolated set and classes set through a series of clustering strategy.The third step is construct contour of coast for each classes using Alpha-Shapes.Then,according to the data characteristic of thinning and ordered,method to get ideal path is designed.Skeleton of classes is extracted according to parameter,then calculate relative position from UUV to skeleton.Path points is obtain according to safe distance.Connecting path points in turn and using cubic spline theory to smooth the ideal path.Finally patrolling problem is translated into Path tracking problem.Again,to slove the problem of underactuated UUV horizontal path tracking,based on the error equations,the speed of virtual guide is used as a member of input,then it becomes fully actuated model,then dividing path following control system into three subsystem: speed following subsystem,position control subsystem and yaw angle following subsystem.The control law of three systems is designed respectively.According to the integral sliding mode and Lyapunov direct method,a horizontal path tracking controller is designed based on the integral sliding mode,the design considering the influences of the ocean current,and it can track the line or curve path effectively,the global stability of the controller is proved by Lyapunov function,and the simulation result verifies the feasibility of the controller.Finally,the paper designs simulation,simulation is carried out in the environment of open and closed harbor,then environment model is built,algorithm evaluation method is designed,simulation is on the MATLAB platform.Result shows that algorithm of the Simultaneous Detection and Patrolling Based On Laser Scanner is feasible.