Motion control system of underwater vehicle

Abstract

The invention discloses a motion control system of an underwater vehicle, which relates to the field of underwater vehicles and comprises a self-attitude sensing module, an obstacle information acquisition module, a data analysis and processing module and a control module. The self-attitude sensing module and the obstacle information acquisition module are used for acquiring attitude data of the vehicle and information data of suspected obstacles in the whole body area and the navigation track area of the vehicle, the data analysis and processing module is used for analyzing and processing the acquired data, and finally, according to the analysis result, the obstacle information of the vehicle is acquired. The optimal obstacle avoidance strategy is automatically selected, the automation degree is high, and when the avoidance strategy is selected, the system can comprehensively consider the influence of the obstacle avoidance of the aircraft on the operation of the aircraft and then select the proper avoidance strategy, so that the obstacle avoidance is more scientific and reasonable, that is, the influence of the obstacle avoidance process on the navigation operation is reduced to the minimum, and the navigation efficiency is improved. And the working efficiency of the underwater vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the field of underwater vehicle motion control, and in particular to a motion control system for an underwater vehicle. Background Art

[0002] As is known to all, with the development of the world economy, human beings' demand for energy is becoming more and more huge, and the contradiction between environmental resources and human needs is gradually emerging. Human beings have set their sights on the vast ocean. The ocean occupies most of the area on the earth. The ocean contains inestimable mineral and biological resources. It is the second space for human survival and development. Therefore, it is necessary to fully explore and understand the ocean, so as to provide a basis for the reasonable development and utilization of marine resources in the future. It is related to the future and development of mankind. Due to the limitations of existing equipment, humans cannot work in waters for a long time, which prompts humans to use more suitable exploration and development tools when conducting marine operations. Underwater vehicles are a complex that integrates multiple disciplines such as automatic control, machinery, electronics and computers. It can replace humans for long-term underwater operations. It has been applied in many fields such as oil extraction, seabed resource surveys, marine rescue and salvage, marine building inspections, marine aquaculture, etc., and has gradually become a powerful tool for exploring and developing the ocean, and has achieved significant economic benefits in these fields;

[0003] Due to the complexity of the underwater environment, there are often many obstacles. In addition to some obstacles with unpredictable trajectories, there are also some obstacles whose trajectories can be predicted. The vehicle needs to avoid these obstacles during navigation. In the existing obstacle motion control system, all obstacles are basically avoided by circumvention, and the avoidance method is single. Therefore, in the actual avoidance process, this circumvention will cause a large change in the motion state of the vehicle, and also have a great impact on the operation of the vehicle, which seriously restricts the operation efficiency of the underwater vehicle. Summary of the invention

[0004] (I) Purpose of the invention

[0005] In view of this, the purpose of the present invention is to propose a motion control system for an underwater vehicle, which can comprehensively consider the impact of the vehicle's obstacle avoidance on the vehicle's operation, and then select a suitable avoidance strategy, thereby making the obstacle avoidance more scientific and reasonable, that is, the impact of the obstacle avoidance process on navigation operations is minimized, thereby ensuring the operating efficiency of the underwater vehicle.

[0006] (II) Technical solution

[0007] To achieve the above technical objectives, the present invention provides a motion control system for an underwater vehicle, which is mainly applied to reasonably avoid obstacles with predictable trajectories during the navigation of the underwater vehicle. It includes a self-attitude sensing module, an obstacle information acquisition module, a data analysis and processing module, and a control module. Among them, the self-attitude sensing module is arranged inside the vehicle to sense the navigation attitude of the vehicle itself and obtain its own attitude data. The obstacle information acquisition module is installed outside the vehicle to collect information data on suspected obstacles in the area around the vehicle and the navigation trajectory area, and obtain suspected obstacle data. The data analysis and processing module is arranged inside the vehicle to analyze and process the self-attitude data and obstacle data, and select an obstacle avoidance strategy based on the analysis and processing results. The control module is arranged inside the vehicle to control the movement of the vehicle to avoid obstacles based on the obstacle avoidance strategy.

[0008] As a further description of the above technical solution: The self-attitude data obtained by the self-attitude sensing module includes: the moving speed of the vehicle, the moving channel of the vehicle, the maximum deceleration of the vehicle, and the maximum acceleration of the vehicle. Among them, the moving channel of the vehicle is the path area space occupied by the movement of the vehicle.

[0009] As a further description of the above technical solution: The suspected obstacle data obtained by the obstacle information acquisition module includes: suspected obstacle parameters, suspected obstacle moving speed, and suspected obstacle moving trajectory.

[0010] As a further description of the above technical solution: The method for collecting the suspected obstacle data is as follows:

[0011] Install multiple groups of sonar sensors outside the vehicle. Detect the area around the vehicle and the navigation trajectory area through the sonar sensors. When suspected obstacles appear in the area around the vehicle and the navigation trajectory area, scan and sense the suspected obstacles to obtain the shape parameters, moving speed, and moving trajectory of the suspected obstacles.

[0012] As a further description of the above technical solution: The specific method for data analysis and processing by the data analysis and processing module is as follows:

[0013] Analyze and interpret the suspected obstacle data information. Based on the shape parameters of the suspected obstacle, construct a three-dimensional model of the suspected obstacle. Based on the moving speed and moving trajectory of the suspected obstacle, predict the moving occupancy area of the suspected obstacle. The moving occupancy area is the path area space occupied by the movement of the suspected obstacle. Specifically, by scanning the moving trajectory of the suspected obstacle multiple times at fixed time intervals, calculate the moving speed of the suspected obstacle, and then predict and calculate the moving occupancy area of the suspected obstacle based on the current moving speed of the suspected obstacle.

[0014] Based on the moving area of ​​the suspected obstacle and the moving path of the aircraft, determine whether there is a conflict between the aircraft and the suspected obstacle;

[0015] When determining whether there is a conflict between the aircraft and a suspected obstacle, an obstacle avoidance strategy is selected.

[0016] As a further description of the above technical solution: the method for determining whether there is a conflict between the aircraft and the suspected obstacle is as follows:

[0017] Compare the moving area of ​​the suspected obstacle with the moving path of the aircraft;

[0018] If the moving area of ​​the suspected obstacle and the moving path of the aircraft do not overlap, it is determined that there is no conflict between the aircraft and the suspected obstacle;

[0019] If there is an overlapping area between the moving area of ​​the suspected obstacle and the moving path of the aircraft, the time from the obstacle to the overlapping area and the time for the obstacle to completely pass through the overlapping area are calculated based on the moving speed of the suspected obstacle. Based on the moving speed of the aircraft, the time from the aircraft to the overlapping area and the time for the obstacle to completely pass through the overlapping area are calculated. When the time from the obstacle to the overlapping area and the time from the obstacle to completely pass through the overlapping area overlap with the time from the aircraft to the overlapping area and the time for the aircraft to completely pass through the overlapping area, it is determined that there is a conflict between the aircraft and the suspected obstacle.

[0020] As a further description of the above technical solution: when determining whether the aircraft conflicts with a suspected obstacle, an obstacle avoidance strategy is selected, wherein the obstacle avoidance strategy includes: an acceleration obstacle avoidance strategy, a deceleration obstacle avoidance strategy, and a path change obstacle avoidance strategy. The method for selecting the obstacle avoidance strategy is as follows:

[0021] The time from the obstacle to the overlapped area is t, and the time for the obstacle to completely pass through the overlapped area is t 1 , the distance the spacecraft needs to move to completely pass through the overlap area is set as L 0 , set the safe distance between the aircraft and the obstacle to L 1 , set the distance from the aircraft to the overlap area to L 2 , set the current initial velocity of the spacecraft to v 0 , set the maximum speed of the spacecraft to v max , set the maximum acceleration of the spacecraft to a m , set the maximum deceleration of the aircraft to a j ,but:

[0022] If v max t≥L 0 +L 1 ,and When , choose the accelerated obstacle avoidance strategy;

[0023] If v max t < L 0 +L 1 , or v m t ≥ a L 0x +L 1 , when, and select the obstacle avoidance strategy for changing the path at this time;

[0024] If v max t < L 0 +L 1 , or v m t ≥ a L 0x +L 1 , when, and calculate the obstacle avoidance influence coefficient of the vehicle at this time, and select the deceleration obstacle avoidance strategy or the obstacle avoidance strategy for changing the path based on the obstacle avoidance influence coefficient of the vehicle.

[0025] As a further description of the above technical solution: The method for calculating the obstacle avoidance influence coefficient of the vehicle is as follows:

[0026]

[0027] Among them, in the formula, ZX is the obstacle avoidance influence coefficient of the vehicle, NH 2 is the energy consumption of the vehicle after selecting the obstacle avoidance strategy, NH 1 is the energy consumption of the vehicle during normal navigation, T 2 is the time of the vehicle after selecting the obstacle avoidance strategy, T 1 is the time of the vehicle during normal navigation, δ 1 , δ 2 is the weight factor, δ 1 , δ 2 are both greater than 0.

[0028] As a further description of the above technical solution: The method for selecting the deceleration obstacle avoidance strategy or the obstacle avoidance strategy for changing the path based on the obstacle avoidance influence coefficient of the vehicle is as follows:

[0029] Set the obstacle avoidance influence coefficient of the vehicle when selecting the deceleration obstacle avoidance strategy as ZX 1 , and set the obstacle avoidance influence coefficient of the vehicle when selecting the obstacle avoidance strategy for changing the path as ZX 2 , then:

[0030] If ZX 1 ≤ ZX 2 , then select the deceleration obstacle avoidance strategy;

[0031] If ZX1 > ZX 2 , then select the path-changing obstacle avoidance strategy.

[0032] As a further description of the above technical solution: The method for the control module to control the vehicle based on the selected obstacle avoidance strategy is as follows:

[0033] When the acceleration obstacle avoidance strategy is selected, an acceleration command is generated, and the control module controls the vehicle to accelerate according to the acceleration command;

[0034] When the deceleration obstacle avoidance strategy is selected, a deceleration command is generated, and the control module controls the vehicle to decelerate according to the deceleration command;

[0035] When the path-changing obstacle avoidance strategy is selected, a path-changing command is generated, and the control module controls the vehicle to change its path according to the path-changing command.

[0036] In the above technical solution, a motion control system for an underwater vehicle provided by the present invention collects information data on the vehicle's own attitude data and suspected obstacles in the area around the vehicle and the navigation trajectory area, then analyzes and processes these collected data, and finally automatically selects the optimal obstacle avoidance strategy according to the analysis results. The degree of automation is high. And when selecting the avoidance strategy, the system can comprehensively consider the impact of the vehicle's obstacle avoidance on the vehicle's operation, and then select a suitable avoidance strategy, so that the obstacle avoidance is more scientific and reasonable, that is, the impact of the obstacle avoidance process on the navigation operation is minimized, ensuring the operation efficiency of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the provided drawings.

[0038] Figure 1 It is a flowchart of a motion control system for an underwater vehicle provided by the present invention;

[0039] Figure 2 It is a schematic diagram of navigation obstacle avoidance in a motion control system for an underwater vehicle provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its applications, and uses. It should be understood that in all these figures, the same or similar reference numerals indicate the same or similar parts and features. Each figure only schematically shows the concept and principle of the embodiments of the present disclosure, and does not necessarily show the specific dimensions and their ratios of the embodiments of the present disclosure. Specific parts in a particular figure may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0041] Embodiment 1

[0042] Referring to Figure 1-2 : This embodiment provides a technical solution: a motion control system for an underwater vehicle, which is mainly applied to reasonably avoid obstacles with predictable trajectories during the navigation of an underwater vehicle, including a self-attitude sensing module, an obstacle information acquisition module, a data analysis and processing module, and a control module. Among them, the self-attitude sensing module is arranged inside the vehicle to sense the navigation attitude of the vehicle itself and obtain its own attitude data. The obstacle information acquisition module is installed outside the vehicle to collect information data on suspected obstacles in the area around the vehicle and the navigation trajectory area, and obtain suspected obstacle data. The data analysis and processing module is arranged inside the vehicle to analyze and process the own attitude data and obstacle data, and select an obstacle avoidance strategy based on the analysis and processing results. The control module is arranged inside the vehicle to control the movement of the vehicle to avoid obstacles based on the obstacle avoidance strategy.

[0043] Specifically, the own attitude data obtained by the self-attitude sensing module includes: the moving speed of the vehicle, the moving path of the vehicle, the maximum deceleration of the vehicle, and the maximum acceleration of the vehicle. Among them, the moving path of the vehicle is the path area space occupied by the vehicle's movement.

[0044] Specifically, the suspected obstacle data obtained by the obstacle information acquisition module includes: suspected obstacle parameters, the moving speed of the suspected obstacle, and the moving trajectory of the suspected obstacle.

[0045] Specifically, the method for collecting suspected obstacle data is as follows:

[0046] Install multiple groups of sonar sensors outside the vehicle, and use the sonar sensors to sense and detect the area around the vehicle and the navigation trajectory area. When suspected obstacles appear in the area around the vehicle and the navigation trajectory area, scan and sense the suspected obstacles to obtain the shape parameters, moving speed, and moving trajectory of the suspected obstacles.

[0047] Embodiment 2

[0048] Based on Embodiment 1: This embodiment provides a technical solution: The specific method for data analysis and processing by the data analysis and processing module is as follows:

[0049] Analyze the data information of the suspected obstacle. Based on the shape parameters of the suspected obstacle, construct a three-dimensional model of the suspected obstacle. Based on the moving speed and moving trajectory of the suspected obstacle, predict the moving occupation area of the suspected obstacle. The moving occupation area is the path area space occupied by the movement of the suspected obstacle (as Figure 2 shown). Specifically, by scanning the moving trajectory of the suspected obstacle multiple times at fixed time intervals, calculate the moving speed of the suspected obstacle, and then predict and calculate the moving occupation area of the suspected obstacle according to the current moving speed of the suspected obstacle;

[0050] Based on the moving occupation area of the suspected obstacle and the moving channel of the vehicle, determine whether there is a conflict between the vehicle and the suspected obstacle;

[0051] When determining whether there is a conflict between the vehicle and the suspected obstacle, select an obstacle avoidance strategy.

[0052] Further, the method for determining whether there is a conflict between the vehicle and the suspected obstacle is as follows:

[0053] Compare the moving occupation area of the suspected obstacle with the moving channel of the vehicle;

[0054] If there is no overlapping area between the moving occupation area of the suspected obstacle and the moving channel of the vehicle (such as the shaded area shown in Figure 2 ), it is determined that there is no conflict between the vehicle and the suspected obstacle;

[0055] If there is an overlapping area between the moving occupation area of the suspected obstacle and the moving channel of the vehicle, then according to the moving speed of the suspected obstacle, calculate the time for the obstacle to reach the overlapping area and the time for the obstacle to completely pass through the overlapping area. Based on the moving speed of the vehicle, calculate the time for the vehicle to reach the overlapping area and the time for the vehicle to completely pass through the overlapping area. When there is an overlap between the time for the obstacle to reach the overlapping area and the time for the obstacle to completely pass through the overlapping area and the time for the vehicle to reach the overlapping area and the time for the vehicle to completely pass through the overlapping area, it is determined that there is a conflict between the vehicle and the suspected obstacle.

[0056] Specifically, when determining whether there is a conflict between the vehicle and the suspected obstacle, select an obstacle avoidance strategy. Among them, the obstacle avoidance strategy includes: an acceleration obstacle avoidance strategy, a deceleration obstacle avoidance strategy, and a path change obstacle avoidance strategy. The method for selecting an obstacle avoidance strategy is as follows:

[0057] Set the time for the obstacle to reach the overlapping area as t, and set the time for the obstacle to completely pass through the overlapping area as t 1 . Set the distance that the vehicle needs to move to completely pass through the overlapping area as L 0 . Set the safety distance between the vehicle and the obstacle as L 1, set the distance from the vehicle to the overlapping area as L 2 , set the current initial speed of the vehicle as v 0 , set the maximum speed of the vehicle as v max , set the maximum acceleration of the vehicle as a m , set the maximum deceleration of the vehicle as a j , then:

[0058] If v max t≥L 0 +L 1 , and at this time, it indicates that the vehicle has the condition to accelerate through, that is, under the condition of allowing acceleration, the vehicle can accelerate through the overlapping area from the obstacle to the overlapping area. At this time, select the acceleration obstacle avoidance strategy;

[0059] It should be noted that: for the underwater operation of the vehicle, the acceleration obstacle avoidance strategy will not affect the operation efficiency, but only affects the endurance of the underwater vehicle (the energy consumption of uniform motion is lower, and both acceleration and deceleration will increase the energy consumption of the vehicle and affect its endurance). Therefore, when the vehicle can accelerate through, it is preferred to accelerate through the obstacle;

[0060] If v max t<L 0 +L 1 , or v m t≥ a L 0x +L 1 , at this time, it indicates that the vehicle cannot accelerate through the overlapping area from the obstacle to the overlapping area even at its maximum speed, or the vehicle starts to accelerate under its maximum acceleration and still cannot accelerate through the overlapping area from the obstacle to the overlapping area. Therefore, at this time, only the deceleration obstacle avoidance strategy and the path change obstacle avoidance strategy can be selected. When at this time, it indicates that the vehicle decelerates at its maximum deceleration and still cannot maintain a safe distance from the overlapping area before the obstacle completely passes through the overlapping area. Therefore, select the path change obstacle avoidance strategy;

[0061] If v max t<L 0 +L 1 , or at this time, it indicates that the vehicle cannot accelerate through the overlapping area from the obstacle to the overlapping area even at its maximum speed, or the vehicle starts to accelerate under its maximum acceleration and still cannot accelerate through the overlapping area from the obstacle to the overlapping area. Therefore, at this time, only the deceleration obstacle avoidance strategy and the path change obstacle avoidance strategy can be selected. When When it indicates that the vehicle decelerates at its maximum deceleration, it can maintain a safe distance from the overlapping area before the obstacle completely passes through the overlapping area. Therefore, a deceleration obstacle avoidance strategy or a path change obstacle avoidance strategy can be selected. At this time, it is necessary to calculate the obstacle avoidance influence coefficient of the vehicle, and select a deceleration obstacle avoidance strategy or a path change obstacle avoidance strategy according to the obstacle avoidance influence coefficient of the vehicle.

[0062] Specifically, the method for calculating the obstacle avoidance influence coefficient of the vehicle is as follows:

[0063]

[0064] Among them, in the formula, ZX is the obstacle avoidance influence coefficient of the vehicle, NH 2 is the energy consumption of the vehicle after selecting the obstacle avoidance strategy, NH 1 is the energy consumption of the vehicle during normal navigation, T 2 is the time of the vehicle after selecting the obstacle avoidance strategy, T 1 is the time of the vehicle during normal navigation, δ 1 、δ 2 are weight factors, δ 1 、δ 2 are both greater than 0. In the formula, the weight factors are collected by those skilled in the art for multiple sets of comprehensive parameters, and corresponding weight factors are set for each set of comprehensive parameters. The set weight factors and the collected comprehensive parameters are substituted into the formula, and any three formulas form a system of ternary linear equations. The calculated weight factors are screened and averaged to obtain the average values of δ 1 、δ 2 . Optionally, δ 1 +δ 2 =1, δ 1 is 0.61, δ 2 is 0.39;

[0065] It should be noted that: the larger the obstacle avoidance influence coefficient ZX of the vehicle, the greater the impact on the navigation operation when the vehicle performs obstacle avoidance.

[0066] Specifically, based on the obstacle avoidance influence coefficient of the vehicle, the method for selecting a deceleration obstacle avoidance strategy or a path change obstacle avoidance strategy is as follows:

[0067] Set the obstacle avoidance influence coefficient of the vehicle when using the deceleration obstacle avoidance strategy as ZX 1 , and set the obstacle avoidance influence coefficient of the vehicle when using the path change obstacle avoidance strategy as ZX 2 , then:

[0068] If ZX 1 ≤ZX 2 , then select the deceleration obstacle avoidance strategy;

[0069] If ZX 1 >ZX2 , then select the obstacle avoidance strategy for path change.

[0070] Embodiment 3

[0071] Based on Embodiment 2: This embodiment provides a technical solution: The method for the control module to control the vehicle based on the selected obstacle avoidance strategy is as follows:

[0072] When the acceleration obstacle avoidance strategy is selected, an acceleration command is generated, and the control module controls the vehicle to accelerate according to the acceleration command. Specifically, while generating the acceleration command, the vehicle acceleration value is obtained, and the control module performs accelerated navigation based on the vehicle acceleration value. The specific calculation method of the vehicle acceleration value is as follows:

[0073]

[0074] Among them, in the formula, a 1 Vehicle acceleration value, L 0 Is the distance that the vehicle needs to move to completely pass through the overlapping area, L 1 Is the safe distance between the vehicle and the obstacle, v 0 Is the current initial speed of the vehicle, and t is the time from the obstacle to the overlapping area;

[0075] When the deceleration obstacle avoidance strategy is selected, a deceleration command is generated, and the control module controls the vehicle to decelerate according to the deceleration command. Specifically, while generating the deceleration command, the vehicle deceleration value is obtained, and the control module performs decelerated navigation based on the vehicle deceleration value. The specific calculation method of the vehicle acceleration value is as follows:

[0076]

[0077] Among them, in the formula, a 2 Is the vehicle deceleration value, v 0 Is the current initial speed of the vehicle, t 1 Is the time for the obstacle to completely pass through the overlapping area, L 2 Is the distance from the vehicle to the overlapping area;

[0078] It should be noted that: When the vehicle selects acceleration and deceleration obstacle avoidance, considering the vehicle's own energy consumption, uniform acceleration motion and uniform deceleration movement are adopted;

[0079] When the path change obstacle avoidance strategy is selected, a path change command is generated, and the control module controls the vehicle to change its path according to the path change command.

[0080] In summary, when the motion control system of the underwater vehicle is applied, it collects information data on the attitude data of the vehicle itself, as well as suspected obstacles in the area around the vehicle and the area of the navigation trajectory. Then, it analyzes and processes these collected data. Finally, based on the analysis results, it automatically selects the optimal obstacle avoidance strategy. The degree of automation is high. Moreover, when selecting the avoidance strategy, the system can comprehensively consider the impact of the vehicle's obstacle avoidance on the vehicle's operation, and then select a suitable avoidance strategy, so that the obstacle avoidance is more scientific and reasonable, that is, the impact of the obstacle avoidance process on the navigation operation is minimized.

[0081] In the foregoing, the exemplary embodiments of the solutions proposed by the present disclosure have been described in detail with reference to the preferred embodiments. However, those skilled in the art can understand that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above specific embodiments, and various combinations of the technical features and structures proposed by the present disclosure can be made, without exceeding the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. A motion control system for an underwater vehicle, characterized in that: It includes: Self-attitude sensing module: It is set inside the aircraft and is used to sense the aircraft's own navigation attitude and obtain its own attitude data; Obstacle information collection module: It is installed outside the aircraft and is used to collect information data of suspected obstacles in the area around the aircraft and the navigation track area, and obtain suspected obstacle data; Data analysis and processing module: It is set inside the aircraft and is used to analyze and process its own attitude data and obstacle data, and select obstacle avoidance strategies based on the analysis and processing results; Control module: It is set inside the aircraft and is used to control the movement of the aircraft to avoid obstacles based on the obstacle avoidance strategy.

2. The motion control system of an underwater vehicle according to claim 1, characterized in that: The self-attitude data acquired by the self-attitude sensing module includes: the aircraft moving speed, the aircraft moving channel, the aircraft maximum deceleration, and the aircraft maximum acceleration, wherein the aircraft moving channel is the path area space occupied by the aircraft movement.

3. The motion control system of an underwater vehicle according to claim 1, characterized in that: The suspected obstacle data acquired by the obstacle information acquisition module includes: suspected obstacle parameters, suspected obstacle moving speed, and suspected obstacle moving trajectory.

4. The motion control system of an underwater vehicle according to claim 1, characterized in that: The method for collecting the suspected obstacle data is as follows: Multiple sets of sonar sensors are installed on the outside of the aircraft. The sonar sensors are used to sense and detect the area around the aircraft and the navigation track area. When suspected obstacles appear in the area around the aircraft and the navigation track area, the suspected obstacles are scanned and sensed to obtain the shape parameters, moving speed and moving track of the suspected obstacles.

5. The motion control system of an underwater vehicle according to claim 1, characterized in that: The specific method of data analysis and processing of the data analysis and processing module is as follows: Analyze the suspected obstacle data information, build a three-dimensional model of the suspected obstacle based on the shape parameters of the suspected obstacle, and predict the moving area of ​​the suspected obstacle based on the moving speed and moving trajectory of the suspected obstacle, where the moving area is the path area space occupied by the suspected obstacle; Based on the moving area of ​​the suspected obstacle and the moving path of the aircraft, determine whether there is a conflict between the aircraft and the suspected obstacle; When determining whether there is a conflict between the aircraft and a suspected obstacle, an obstacle avoidance strategy is selected.

6. The motion control system of an underwater vehicle according to claim 5, characterized in that: The method for determining whether there is a conflict between the aircraft and a suspected obstacle is as follows: Compare the moving area of ​​the suspected obstacle with the moving path of the aircraft; If the moving area of ​​the suspected obstacle and the moving path of the aircraft do not overlap, it is determined that there is no conflict between the aircraft and the suspected obstacle; If there is an overlapping area between the moving area of ​​the suspected obstacle and the moving path of the aircraft, the time from the obstacle to the overlapping area and the time for the obstacle to completely pass through the overlapping area are calculated based on the moving speed of the suspected obstacle. Based on the moving speed of the aircraft, the time from the aircraft to the overlapping area and the time for the obstacle to completely pass through the overlapping area are calculated. When the time from the obstacle to the overlapping area and the time from the aircraft to the overlapping area and the time for the obstacle to completely pass through the overlapping area overlap with the time from the aircraft to the overlapping area and the time for the aircraft to completely pass through the overlapping area, it is determined that there is a conflict between the aircraft and the suspected obstacle.

7. The motion control system of an underwater vehicle according to claim 6, characterized in that: When determining whether the aircraft conflicts with a suspected obstacle, an obstacle avoidance strategy is selected, wherein the obstacle avoidance strategy includes: an acceleration obstacle avoidance strategy, a deceleration obstacle avoidance strategy, and a path change obstacle avoidance strategy. The method for selecting the obstacle avoidance strategy is as follows: Set the time from the obstacle to the overlap area to t, the time for the obstacle to completely pass through the overlap area to t1, the distance the aircraft needs to move to completely pass through the overlap area to L0, the safe distance between the aircraft and the obstacle to L1, the distance from the aircraft to the overlap area to L2, the current initial speed of the aircraft to v0, and the maximum speed of the aircraft to v max , set the maximum acceleration of the spacecraft to a m , set the maximum deceleration of the aircraft to a j ,but: If v max t≥L0+L1, and When , choose the accelerated obstacle avoidance strategy; If v max t<L0+L1, or When, and When , choose to change the path obstacle avoidance strategy; If v max t<L0+L1, or When, and When the obstacle avoidance coefficient of the aircraft is calculated, the deceleration obstacle avoidance strategy or the path change obstacle avoidance strategy is selected based on the obstacle avoidance coefficient of the aircraft.

8. The motion control system of an underwater vehicle according to claim 7, characterized in that: The method for calculating the obstacle avoidance influence coefficient of the aircraft is as follows: Where, ZX is the obstacle avoidance coefficient of the aircraft, NH2 is the energy consumption after the aircraft selects the obstacle avoidance strategy, NH1 is the energy consumption of the aircraft during normal navigation, T2 is the time after the aircraft selects the obstacle avoidance strategy, T1 is the time of normal navigation of the aircraft, δ1 and δ2 are weight factors, and both δ1 and δ2 are greater than 0.

9. The motion control system of an underwater vehicle according to claim 8, characterized in that: Based on the obstacle avoidance coefficient of the aircraft, the method of selecting the deceleration obstacle avoidance strategy or the path change obstacle avoidance strategy is as follows: When the deceleration obstacle avoidance strategy is selected, the obstacle avoidance coefficient of the aircraft is set to ZX1, and when the path change obstacle avoidance strategy is selected, the obstacle avoidance coefficient of the aircraft is set to ZX2, then: If ZX1≤ZX2, then choose the deceleration obstacle avoidance strategy; If ZX1>ZX2, the path change obstacle avoidance strategy is selected.

10. The motion control system of an underwater vehicle according to claim 9, characterized in that: The method by which the control module controls the aircraft based on the selected obstacle avoidance strategy is as follows: When the acceleration obstacle avoidance strategy is selected, an acceleration command is generated, and the control module controls the vehicle to accelerate according to the acceleration command; When the deceleration obstacle avoidance strategy is selected, a deceleration command is generated, and the control module controls the vehicle to decelerate according to the deceleration command; When the change-path obstacle avoidance strategy is selected, a change-path command is generated, and the control module controls the vehicle to change its navigation path according to the change-path command.

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