期刊
OCEAN ENGINEERING
卷 236, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.109546
关键词
Trajectory planning; Turning circle; Underwater mobile docking; Underactuated AUV
资金
- National Key Research and Development Program of China [2017YFC0305700]
- National Natural Science Foundation of China [51879057, U1806228, 51809064]
- Fundamental Research Funds for the Central Universities [3072019CFJ0103]
- Open Funds of Laboratory of Science and Technology on Marine Navigation and Control [2020010301]
- Open Funds of Science and Technology on Underwater Vehicles Laboratory [6142215190110]
This paper proposes a TCBTPM trajectory planning method for AUV mobile docking missions, which predicts relative positions and generates trajectories to guide the AUV docking. Additionally, a mobile docking guidance system is introduced to provide necessary navigation instructions.
In this paper, a turning circle based trajectory planning method (TCBTPM) is proposed to conduct trajectory planning of an underactuated autonomous underwater vehicle (AUV) for mobile docking mission. Firstly, the six degrees of freedom kinematics and dynamics model of underactuated AUV is acquired. Following this, the simulation of horizontal turning circle trial is studied and the overview of mobile docking mission is introduced. Furthermore, TCBTPM is used to predict the relative position of AUV and the mobile docking station (MDS) in advance and generate a feasible trajectory for the mobile docking mission. Finally, a mobile docking guidance system containing TCBTPM, pure pursuit (PP) guidance law and line-of-sight (LOS) guidance law is employed to obtain desired guidance commands and guides the underactuated AUV to dock efficiently and reliably.
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