Three-dimensional path understanding and tracking control method for underactuated autonomous underwater vehicles

Abstract

The invention provides a method for understanding and tracking control of a three-dimensional path of an under-actuated autonomous underwater vehicle. The method comprises steps of 1, understating a three-dimensional path obtained by the global path planning is understood as a spatial straight line segment sequence; 2, describing a spatial straight line segment as a target straight line segment of the autonomous underwater vehicle, making the projection in the inertial coordinate system, forming a two-dimensional straight line in the horizontal plane, and forming depth and height coordinate sequences in the vertical direction; 3, performing tracking control of a single horizontal target straight line segment, the controller adopting a hierarchical structure, a guidance controller located at the upper layer converting the position deviation into the reference heading angle, and a state controller at the lower level converting the heading angle deviation into the rotation execution angle of the control surface; and 4, performing replacement of the target straight line segment, completing tracking of each target straight line segment, and finally realizing the three-dimensional path tracking. The method is applicable to under-actuated autonomous underwater vehicle for remote navigation and investigation, and has a certain anti-ocean current disturbance capability.

Description

technical field [0001] The invention relates to a control method of an autonomous underwater vehicle, in particular to a three-dimensional path understanding and tracking control method for an underactuated autonomous underwater vehicle. Background technique [0002] Most of the tasks performed by AUVs are investigative in nature. In fact, the form of tracking control of autonomous underwater vehicles to space targets is discrete and discontinuous. Even in the face of complex curves in analytical form, they are expressed in the form of discrete points for the control system. In "An Underactuated AUV Area Search Method Based on Electronic Charts" (Robot, 2014, Vol. 36, No. 5), "Docking control system for a 54-cm-diameter (21-in) AUV" (IEEE Journalof Some applications described in Oceanic Engineering, 2008, Vol. 33, No. 4) require underwater vehicles to have good plane and straight line tracking capabilities, such as covered underwater target search, seabed topography survey...

AI Technical Summary

Problems solved by technology

[0003] On the one hand, the application of controllers based on dynamic models is difficult: although the backstepping design method, the idea of ​​local feedback linearization, and neural network control have made great progress in theory, they are mostly at the stage of numerical simulation research ("Based on Backstepping Non-linear control method for underactuated UUV space target tracking", Harbin Engineering University Doctoral Dissertation, 2012), which has not been effectively applied to carrier

On the one hand, most of the control methods that have been applied are waypoints and virtual point tracking, which cannot effectively resist the interference of ocean currents ("Area Search for Underwater Robots Based on Fuzzy Theory in Ocean Current Environment", Master's Thesis of Harbin Engineering University, 2005)

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