Development of AUV path planner based on unstable mode

2019 The 5th International Conference on Electrical Engineering, Control and Robotics

无线电电子学;计算机科学

Medvedev, Mikhail^1 ; Gurenko, Boris^1

Southern Federal University, Research Institute of Robot Engineering and Control, Taganrog

347922, Russia^1

关键词: A-stable;    Autonomous underwater vehicles (AUV);    Desired angles;    Dynamic links;    Path planners;    Regulatory level;    Sensor subsystems;    Unstable modes;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/533/1/012027/pdf
DOI  :  10.1088/1757-899X/533/1/012027

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

In this article, development of an autonomous underwater vehicle (AUV) path planner based on unstable mode is considered. The path planner is based on the bionic approach and does not require pre-mapping, it reduces requirements for the sensor subsystem of AUV. In the path planner, we use a method for obstacle avoidance in which an unstable mode is realized in a separate dynamic link. The output of the dynamic link corrects the desired angles of the AUV orientation. It allows setting the unstable mode only at the planning level, and at the regulatory level, a control system works in a stable mode. In addition, this approach allows planning the direction of obstacle avoidance. Detailed description of the proposed path planner and results of the study in Matlab are provided.