Trajectory Planning of Autonomous Underwater Vehicles Based on Gauss Pseudospectral Method.

Wenyang Gan, Lixia Su, Zhenzhong Chu

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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5 · Who and what money

Authors and funding

3 authors.

Wenyang GanLogistics Engineering College, Shanghai Maritime University, Shanghai 201306, China.

Lixia SuLogistics Engineering College, Shanghai Maritime University, Shanghai 201306, China.

Zhenzhong ChuSchool of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Funding

Key Laboratory Foundation of Underwater Robot Technology 6142215200305National Natural Science Foundation of China 51839004National Natural Science Foundation of China 52171313National Natural Science Foundation of China U2006228

6 · The paper itself

Abstract

This paper aims to address the obstacle avoidance problem of autonomous underwater vehicles (AUVs) in complex environments by proposing a trajectory planning method based on the Gauss pseudospectral method (GPM). According to the kinematics and dynamics constraints, and the obstacle avoidance requirement in AUV navigation, a multi-constraint trajectory planning model is established. The model takes energy consumption and sailing time as optimization objectives. The optimal control problem is transformed into a nonlinear programming problem by the GPM. The trajectory satisfying the optimization objective can be obtained by solving the problem with a sequential quadratic programming (SQP) algorithm. For the optimization of calculation parameters, the cubic spline interpolation method is proposed to generate initial value. Finally, through comparison with the linear fitting method, the rapidity of the solution of the cubic spline interpolation method is verified. The simulation results show that the cubic spline interpolation method improves the operation performance by 49.35% compared with the linear fitting method, which verifies the effectiveness of the cubic spline interpolation method in solving the optimal control problem.

Indexed as

autonomous underwater vehiclecubic spline interpolationGauss pseudospectral methodobstacle avoidancetrajectory planning

Identifiers

PMID36850948

DOI10.3390/s23042350

PMCPMC9968012

What OpenQuestion holds

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LicenceCC BY

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.