Optimal obstacle avoidance design of autonomous underwater vehicle for cable laying based on model prediction control

参数	最小值	最大值
纵向移动加速度u/(m·s⁻²)	−0.6	0.6
横向移动加速度v/(m·s⁻²)	−0.3	0.3
垂向移动加速度w/(m·s⁻²)	−0.6	0.6
横倾角速度变化率p/(m·s⁻²)	−0.2	0.2
纵倾角速度变化率q/(m·s⁻²)	−0.2	0.2
偏航角速度变化率r/(m·s⁻²)	−0.2	0.2

Table 2. Parameters of related path
View table
View in Article
Table 2. Parameters of related path
参数起始位置预设路径
正北距离ξ/m 0 50
正东距离η/m 20 20
指向地心距离ζ/m 4 4
正北偏向角$\phi $/rad 0 0
正东偏向角θ/rad 0 0
垂直偏向角ψ/rad 0 0

Table 3. Mean errors of AUV moving at a relative height away from the raised seabed level under the selected paths
View table
View in Article
Table 3. Mean errors of AUV moving at a relative height away from the raised seabed level under the selected paths
控制方法平均误差/m
MPC 3.5198
CMPC 0.1317
CLMPC 0.1970

Table 4. AUV's path length and the distance from each path to the nearest waypoint
View table
View in Article
Table 4. AUV's path length and the distance from each path to the nearest waypoint
控制方法路径长度/m 最近特征点q_close距离/m
MPC 50.0000 18.0562
CMPC 57.8088 20.0552
CLMPC 50.6419 16.0642

Table 5. Mean errors of AUV moving at a relative height away from the concaved seabed level for the selected paths
View table
View in Article
Table 5. Mean errors of AUV moving at a relative height away from the concaved seabed level for the selected paths
控制方法平均误差/m 路径长度/m
MPC 0.6729 50.0000
CMPC 0.2145 58.1617
CLMPC 0.2439 51.8993

Tools

Get Citation

Copy Citation Text

Zhehao SU, Weiran WANG, Xiaoqiang DAI, Zhiyu ZHU, Jie YAO, Huilin GE. Optimal obstacle avoidance design of autonomous underwater vehicle for cable laying based on model prediction control[J]. Chinese Journal of Ship Research, 2024, 19(1): 248

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category:

Received: Oct. 17, 2022

Accepted: --

Published Online: Mar. 18, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03125

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. The limit of AUV parameters

Table 1. The limit of AUV parameters

Table 2. Parameters of related path

Table 2. Parameters of related path

Table 3. Mean errors of AUV moving at a relative height away from the raised seabed level under the selected paths

Table 3. Mean errors of AUV moving at a relative height away from the raised seabed level under the selected paths

Table 4. AUV's path length and the distance from each path to the nearest waypoint

Table 4. AUV's path length and the distance from each path to the nearest waypoint

Table 5. Mean errors of AUV moving at a relative height away from the concaved seabed level for the selected paths

Table 5. Mean errors of AUV moving at a relative height away from the concaved seabed level for the selected paths