Trajectory planning for multiple autonomous underwater vehicles with safety guarantees
Shuhao Zhang, Yujia Yang, Seth Siriya, Ye Pu · 2022
This paper addresses the safe trajectory planning problem for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs’ trajectory tracking abilities and cause vehicle-obstacle and inter-vehicle collisions. A novel trajectory planning method based on the Hamilton-Jacobi (HJ) differential game formulation and model predictive control (MPC) is proposed to generate safety-guaranteed trajectories for AUV systems considering wave disturbance that is either time-varying state-independent or time-varying state-dependent. Further, this method allows for the consideration of AUVs with different shapes by incorporating nonlinear smooth collision avoidance constraints obtained via strong duality.