Obstacle Avoidance Trajectory Planning and Trajectory Tracking Control for Autonomous Underwater Vehicles

被引：0
|
作者：
Chu, Zhenzhong [1 ]
Zhu, Daqi [1 ]
机构：
[1] Shanghai Maritime Univ, Coll Informat Engn, Shanghai 201306, Peoples R China
来源：
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年
基金：
中国国家自然科学基金;
关键词：
OPTIMIZATION; GUIDANCE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the problems of trajectory planning and tracking control for autonomous underwater vehicles (AUVs) are discussed. On the premise of realizing the dynamic target obstacle avoidance, the optimization model is set up with the shortest time and the minimum energy consumption as the optimization goal. Based on the Radau Pseudospectral Method (RPM), the optimization problem is solved. For the planned trajectory, an adaptive generic model controller based on Radial Basis Function (RBF) neural networks is proposed. The stability of the control system is analyzed based on the Lyapunov theory. Finally, the simulation results show that the proposed method is efficient.
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页码：450 / 454
页数：5
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