Research Of Path Planning And Monitoring System For Large-scale AUV

Large-scale unmanned underwater vehicle(LSUUV)is a new type of underwater autonomous navigation equipment which equipped with a variety of sensors and task execution modules.It is a new type of platform for testing the control performance of the underwater vehicle and its internal equipment.The goal of this paper is to build a path planning and monitoring system of LSUUV,so that the vehicle has the ability to autonomously and remotely conduct navigation tests.In order to meet the autonomous test requirements of the LSUUV it needs to complete multiple navigation test procedures such as remote control navigation,path planning,task downloading,and autonomous navigation on the test site.The LSUUV control system is required to be able to plan a sailing path with the known test site environment.In addition,the vehicle adopts an under-actuated configuration,which does not have lateral and vertical degrees of freedom,and cannot track the broken line path.In order to solve the above practical engineering project problems,this paper designs a set of practical path planning methods,which includes three parts: navigation environment modeling,path planning and path optimization.The LSUUV testing requires frequent site changes and harsh environments.Therefore,this paper develops a set of portable and protective multifunctional integrated system,and completes the software design and development of multiple devices on this basis.This article first introduces the structure and composition of the LSUUV as well as the vehicle path tracking control method,and demonstrates the design scheme of the system based on the requirements of the sailing test.Next,this paper establishes the kinematics and dynamics model of the aircraft,analyzes the motion characteristics of the vehicle,and uses the electronic chart and the satellite map of the actual test site as the information source to establish the navigation environment model.On the basis of the above model,a path planning method based on evolutionary algorithm is proposed,and this method is optimized for the underactuated characteristics of the vehicle and the requirements of high speed test.Then,this article completed the engineering realization of path planning and monitoring system.The main contents include control scheme formulation,hardware selection design,equipment integration,software system design,software development and debugging.In the process of software development,a general software framework is used to improve the efficiency.As the control system needs to be fully tested before the completion of the actual vehicle construction,this paper builds a hardware in the loop simulation test platform,analyzes the hardware in the loop simulation test requirements,and introduces the structure and composition of the test platform.Then,the remote navigation and autonomous navigation experiments are designed to verify the effectiveness of the path planning and monitoring system.In addition,after the completion of the construction of the vehicle,the field test was carried out to verify the portability,protection and reliability of the system under the field test conditions.This work solves the key problems in practical engineering,enriches the research work of path planning for LSUUV,and realizes the transformation from theoretical research to engineering practice.