Research On Path Planning Problem Of Underactuated AUV Considering Constraints

This article mainly focused on the research of path planning problem of underactuatedAUV under constraints. Because of its special kinematics properties, underactuated AUVcould not be controlled by position directly. Therefore, to make the path feasible, we shouldtook the constraints conducted by particular task and AUV itself into consideration in theprocess of design the path planning method.Firstly, in this thesis, theory, classification and many methods about global path planningwere introduced. As well, the background and significance of this research were involved.Secondly, two kinds of reference frames were constructed so as to analyse the characters ofunderactuated AUVs and based on what we derived the kinematics and dynamics modelformulas. Thirdly, a global path planning method was designed in consideration of two kindsof constraints during AUV’s independent docking recovery procedure. The method whichfinally generating a B-spline path was a combination of template path idea and geneticalgorithm. Then, another global path planning method based on prior electronic chart was putforward on account of regional research task. What’s more, former heading angledetermination algorithm was optimized after taking current influence into consideration inlocal path planning system. Lastly, a path planning software operated on VxWorks systemwas put forward. During its design process, several mechanics involved was mentioned.Combing the path planning software mentioned with current computer simulationplatform, examinations were done, whose results not only proved effectiveness of the pathplanning methods proposed by us, but also the feasibility of our plan software.