Optimal obstacle avoidance design of autonomous underwater vehicle for cable laying based on model prediction control
[Objective]The independent cabling operation of an autonomous underwater vehicle(AUV)in complex submarine terrain should balance cabling quality with self-safety,which means that the AUV should maintain a stable height relative to the seabed.To this end,this paper designs an optimal obstacle avoidance design for a cable-laying AUV based on model prediction control(MPC).[Method]First,the method estab-lishes a path-following control model based on MPC.It then classifies different obstacles into topographic bulges or depressions,and establishes a simplified mathematical model of the obstacles.Second,the method designs multiple objective optimization functions for different topographic environments according to the fea-ture points,allowing the AUV to choose the shortest path with the minimum variation in cable-laying height.[Results]The results show that this method achieves the most minimal changes in cable-laying height while also choosing the most optimal path to avoid obstacles.[Conclusion]The proposed method not only en-sures the safety of AUVs in complex submarine terrain,but also greatly improves the laying quality of submar-ine cables.
万方数据
维普
