Research on real-time optimization behavior of AUV based on MILP
Kaizhou Liu · Machinery Design and Manufacture · 2012
A Mixed Integer Linear Planning(MILP)based optimal trajectory generation method in the globe coordinate system is presented for real-time path planning of Autonomous Underwater Vehicle(AUV) in the dynamic complex environment.In the globe coordinate system,the path planning of AUV in dynamic environment is described as minimizing an objective function subjecting to a set of linear inequalities which can be easily embedded into MILP path planner.Thus an optimal path fulfilling the performance requirement is obtained.Meanwhile constrains of obstacles,target,AUV dynamics,and sensor ranger are fully considered,combining with actual dynamic model,a semi-physical simulation test is done,which results verify the validity of this approach.