가상목표점을 이용한 무인 잠수정의 충돌회피 귀한 경로계획

Abstract

An AUV(Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUU cannot follow the trajectory. Proposed homing trajectory planning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactuated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.