Research On Real-time Motion Planning Of AUV Under Three-Dimension Enviroment

Based on the research project and analysis of AUV'S uncertain work environment and the specialities of the sonar, the paper proposes behavior selection strategy based on the output of fuzzy controller. The simulation results show that provided the methods enhance the validity of AUV'S real-time path planning.At first the paper illuminates the established process of 3D visual simulation, in order to indicate the methods are effective. On 3D visual simulation the parameter configured of viewpoint is illuminated. AUV real-time locomotion is observed different point of view, that is realized through the different parameter configured of viewpoint. And the simulation of sonar is illuminated on 3D visual simulation. According to the real-time information detected by the sonar, AUV decides the next behavior.Considering the problem that 3D uncertain environment and few information returned by sonar, the paper designs AUV'S real-time path planning system based on fuzzy control theory. This system needn't establish the model of environment and calculate many data, and it can solve the real-time path planning problem in the complicated environment.When AUV detects an obstacle on 3D uncertain environment, it can choose one from behavior of obstacle avoidance by yaw and behavior of return navigation by heave. The paper proposes behavior selection strategy, in order to enhance the speed and intelligence during the whole process of obstacle avoidance. This strategy utilizes fully the real-time information detected by sonar, then chooses the better one that decides AUV'S the next behavior between the output of the fuzzy controller. And this strategy analyzes the method of obstacle avoidance when AUV enters in concave obstacles. The behavior selection strategy considers fully the speed and safety of the process of return navigation.At last, the simulation results show that the methods are effective and feasible on 3D visual simulation.