Path Planning and Tracking for Autonomous Underwater Vehicles
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems of AUV path planning. Simulation shows the employed method is of good performance in convergency and reliability, so can fulfill demand of real-time for AUV control system. Furthermore, path tracking algorithm based on turning maneuver and straight running maneuver in the case of keeping fixed depth is designed, simulation results verify the effectivity of proposed methods.
HE Bo RAN Hongge YANG Ke HUANG Luyue REN Chunyun
School of Information Science and Engineering Ocean University of China,Qingdao 266100,P. R. China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
728-733
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）