Autonomous Heading Planning and Control Method of Unmanned Underwater Vehicles for Tunnel Detection

To address the challenge of unmanned underwater vehicle (UUV) autonomous navigation in long-distance underwater tunnel detection tasks and improve the control performance of its heading control system, a method of autonomous heading planning and control based on sonar-ranging feedback control was proposed. This method combines UUV's autonomous heading planning technology with the heading proportion-integral-derivative (PID) control algorithm, optimizing the acquisition method of controller input data, to impart specific adaptive characteristics to the controller. Using the ranging principle of ultrasonic spontaneous self-collection, it is possible to obtain the yaw direction and angle of the vehicle relative to the target heading in the tunnel and continuously adjust the control law to change the heading as the vehicle's heading status changes during navigation. The effectiveness of the autonomous heading planning and control method is verified through pool experiments. The analysis and experimental results show that the proposed heading planning method achieves good control effect in UUV's underwater tunnel detection heading control, and exhibits obvious advantages in long-distance closed tunnel environments. UUV can adaptively adjust the heading according to the tunnel environment and has a fast response and strong applicability in planning and controlling the heading.

Automated summary

In order to tackle the challenges of autonomous navigation of unmanned underwater vehicles (UUVs) in long-distance underwater tunnel detection tasks and improve the control performance of their heading control system, a method of autonomous heading planning and control based on sonar-ranging feedback control is proposed. This method combines UUV's autonomous heading planning technology with the heading proportion-integral-derivative (PID) control algorithm, optimizing the acquisition method of controller input data, to provide specific adaptive characteristics to the controller. By utilizing the ranging principle of ultrasonic spontaneous self-collection, the method can obtain the yaw direction and angle of the vehicle relative to the target heading in the tunnel, and continuously adjust the control law to change the heading as the vehicle's heading status changes during navigation. The effectiveness of this method is verified through pool experiments, which show that it achieves good control effect in UUV's underwater tunnel detection heading control and exhibits advantages in long-distance closed tunnel environments. UUV can adaptively adjust the heading according to the tunnel environment and has a fast response and strong applicability in planning and controlling the heading.