An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the ...An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.展开更多
In order to understand the laws of motion for supercavitating vehicle better, simplified equations for longitudinal motion of supercavitating vehicle were derived. Then the corresponding simulation software for trajec...In order to understand the laws of motion for supercavitating vehicle better, simplified equations for longitudinal motion of supercavitating vehicle were derived. Then the corresponding simulation software for trajectory of supereavitating vehicle was programmed, by which the theoretical predicted trajectories of the supercavitating vehicle at different velocities were obtained. It was found that the predicted trajectories at low speed and without cavitation on the vehicle in theory agreed well with those in experiments, and the theoretical predicted trajectories at high speed and with supercavity on the vehicle correctly reflected the motion laws of the supercavitating vehicle. The influences of various parameters of eavitator and rudder on the underwater trajectory were compared and analyzed, which can provide a guide for the design of hydrodynamic distribution and gross parameters of the supereavitating weapons.展开更多
基金Supported by the National High Technology Research and Development Programme of China（No. 2006AAllZ225） and the National Natural Science Foundation of China （No. 60605026, 60635010）.
文摘An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.
文摘In order to understand the laws of motion for supercavitating vehicle better, simplified equations for longitudinal motion of supercavitating vehicle were derived. Then the corresponding simulation software for trajectory of supereavitating vehicle was programmed, by which the theoretical predicted trajectories of the supercavitating vehicle at different velocities were obtained. It was found that the predicted trajectories at low speed and without cavitation on the vehicle in theory agreed well with those in experiments, and the theoretical predicted trajectories at high speed and with supercavity on the vehicle correctly reflected the motion laws of the supercavitating vehicle. The influences of various parameters of eavitator and rudder on the underwater trajectory were compared and analyzed, which can provide a guide for the design of hydrodynamic distribution and gross parameters of the supereavitating weapons.
