A Path Planning Method Based on Artificial Vector Field for Autonomous Recovery of AUV
Shi Shu-wei · Torpedo Technology · 2011
To solve the path planning problem of autonomous underwater vehicle(AUV) in the process of underwater autonomous recovery,an artificial vector field method is adopted.The whole autonomous recovery process is divided into the homing guidance stage and the docking stage.In the homing guidance stage,the preparatory point for docking is taken as the goal,and an obstacle-free path is planned for AUV by the artificial vector field method.In the docking stage,the three virtual goal points at the recovery entrance of the dock are defined with a fuzzy variable-coefficient vector field method.Taking the distance between dock axis and AUV as the input,the coefficients of vector field are adjusted by a fuzzy control method,and the gradient direction of artificial attraction force field is pointed to the entrance of dock by calculating the attraction force coefficients of the virtual target points by fuzzy rules.Hence,AUV can dock into the recov-ery entrance along the smooth path in the desired posture.Simulation results verify the effectiveness of the presented method.