变化海流环境下AUV能量最优三维路径规划

Energy-optimal three-dimensional path planning for AUV under changing ocean current environment

为获取变化海流环境下自主水下航行器(autonomous underwater vehicle,AUV)的能量最优路径,基于最优控制理论提出一种用于AUV的三维能量最优路径规划算法。首先,为了有效抑制海流对路径规划的影响,将海流向量加入到AUV运动学模型中。其次,在已知俯仰角及AUV位置的情况下,利用庞特里亚金极小值原理,获得能量最优控制律。最后,利用线性定常系统的状态空间理论,计算得到初始艏向角、航速以及能量消耗。在仿真环节,通过与负反馈控制策略相比较,说明所提算法能够规划出三维能量最优路径,而且可以有效降低AUV的能量消耗。

In order to obtain the energy optimal path of autonomous underwater vehicle(AUV)in changing ocean current environment,a three-dimensional energy optimal path planning algorithm for AUV is proposed based on the optimal control theory.Firstly,in order to effectively suppress the influence of ocean current on path planning,ocean current vector is added to AUV kinematics model.Secondly,when the pitch angle and AUV position are known,the energy optimal control law is obtained by using Pontryagin minimum principle.Finally,the initial heading angle,speed and energy consumption are calculated by using the state space theory of linear steady system.In the simulation part,compared with the negative feedback control strategy,it shows that the proposed algorithm can plan the three-dimensional energy optimal path,and can effectively reduce the energy consumption of AUV.