가상의 목표지점을 경유하는 효율적인 AUV 호밍 경로계획 및 제어

Abstract

Autonomous Underwater Vehicles (AUVs) are useful for many underwater operations such as collecting biological and mineral resources. But there are some limitations for those vehicles during long-term operations. Energy storage and power consumptions are critical factors for all long-term operations. In the long-term underwater application, docking operation is important for recharging power and transferring data which are limited by the on-board energy storage and on-board data storage. The general problem of accurately stabilizing the position and orientation of the underwater vehicle is a key problem of homing path planning. In this paper, we propose the Virtual Goal Method based on AUV’ s bounded turning radius and tangent points. Simulation result shows that this planner is very fast and guaranteed the AUV’ s homing orientation and position. And on the simulation, satisfactory performance of the simple PD control system is shown to be attainable.