基于复杂约束条件的欠驱动AUV三维路径规划

为解决欠驱动自主水下航行器(AUV)在复杂水域下的三维路径规划和避碰问题,结合欠驱动的运动特性与自身约束条件,提出一种改进的蚁群结合3次B样条曲线拟合的算法,模拟现实海域环境信息进行水下空间环境建模。针对传统蚁群算法规划出的全局路径转角大、曲折多所造成的欠驱动AUV舵轮使用寿命低的问题,采用垂直面安全域设置的方法,设计基于低崎岖度的适应度函数结合路径长度与平缓度的双边评价体系规划出全局路径。采用3次B样条曲线,基于原型值点及目标点速度矢量约束拟合出一条曲率连续、无碰撞的优化路径。仿真结果表明,在保证收敛速度和全局搜索能力的前提下,所规划的路径合理,满足欠驱动AUV运动条件。

Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

A three-dimensional stabilization problem for underactuated autonomous underwater vehicles(AUVs)is addressed in this paper.A novel coordinate transformation form consisting of state modifications and input transformations is introduced such that the whole system is divided into two decoupled one-order subsystems.Some switching functions are presented to further decouple the underactuated dynamics and to produce persistently exciting(PE)signals for those underactuated states.Based on the aforementioned results,a quite simple control law is designed to achieve global three-dimensional asymptotic convergence of all states of underactuated AUVs.Comparative simulations are carried out to validate the effectiveness and performance of the proposed control scheme.