Research On UUV Spatial Motion Planning Method Of Typical Tasks

With the development of ocean research and exploit coupled with need for the national defense, UUV that can be applied to check underwater pipeline, harbor defense and target attack has become the hot research recently. Autonomy and security are the important characters for UUV. Autonomy is an ability that UUV can exchange with the environment and motion planning is the most important aspect of it. Security is the premise for UUV to complete multi-task. The meaning of security is that UUV can effectively avoid threats through rational planning and control when executing tasks. This paper presents the mathematical model of UUV, current model, motion planning, motion control methods and simulator based on navigation-obstacle avoidance and torpedo attack.Firstly, build up the coordinate system, including fixed coordinate and carrier coordinate.Establish simplified mathematical model of UUV in the horizontal plane through force analysis. In the coordinate system, the constant current model and the mathematical model of UUV considering current interference are established by analysis and decomposition .Verify the correctness of these models by simulation.Secondly, design of velocity fuzzy planner and heading fuzzy planner by using fuzzy control theory knowledge for navigation-obstacle avoidance task. UUV can obtain appropriate speed and heading for obstacle avoidance movement. And devise independent PID controllers for UUV velocity and heading control problems. Verify the validity of fuzzy planner and controller.Thirdly, research on motion planning of UUV from planning of manoeuvring route planning and occupying shooting-position for the torpedo attack task. After hunt the target,UUV's manoeuvring route is decomposed into tracking route and occupying shooting-position route. Define Standards and boundaries of route selection and planning a manoeuvring route project according to movement trend of target and UUV. Through calculation and analysis of manoeuvring parameters, UUV can plan an occupying shooting-position project.Finally, we construct simulation platform of UUV motion planning and control based on Qt. The simulation software integrates the mathematical model of UUV,current model, fuzzy planner, manoeuvring route planning, occupying shooting-position planning and motion controller of UUV. We design of simulation case that UUV would accomplish navigation and obstacle-voidance autonomously under the action of fuzzy planner and controller. After hunt the target, UUV would accomplish manoeuvring route planning and occupying shooting position planning rapidly. Then, UUV would finish the task of torpedo attack by tracking the target effectively and occupying shooting -position in the role of controller.