机械科学与技术2012，Vol.31Issue(5)：810-813,817,5.
自主水下航行器回坞路径规划与跟踪控制
Homing Path Planning and Following Control of an Autonomous Underwater Vehicle
摘要
Abstract
Homing is the process that an autonomous underwater vehicle（AUV） returns to its underwater supporting station after mission,and it is the key operation in the AUV′s autonomous retrieval.The AUV homing control algorithm based on path following is proposed in this paper.The homing path is planned with the Dubins curve to connect the AUV starting point and the docking point using one straight line and two arcs with radius equal to the AUV minimum turning radius determined by the AUV′s maneuvering capability.The tangent vectors of the homing path at the start-point and end-point are along the AUV′s initial heading and the docking entrance direction respectively.The nonlinear dynamic model of the path following errors is derived in the Serret-Frenet coordinate originating at the reference point moving on the path,overcoming the singularity problem in the classic methods.The command yaw angle is designed as the control input of the path following errors,which are proved to be globally asymptotically stable while properly choosing the rate of the path curve parameter.The simulation studies demonstrate the effectiveness of the proposed homing path planning and following controller.关键词
自主水下航行器/回坞路径规划/Dubins曲线/路径跟踪控制Key words
autonomous underwater vehicle/homing path planning/dubins curve/path following control分类
信息技术与安全科学引用本文复制引用
高剑,刘富樯,严卫生..自主水下航行器回坞路径规划与跟踪控制[J].机械科学与技术,2012,31(5):810-813,817,5.基金项目
国家自然科学基金项目（50909082）资助 （）
