Research on Real Time Path Planning Method for the Underwater Robot in Unknown Environment with Random Shape Obstacle

摘要

By studying the problem of AUV's path planning in the unknown environment with obstacles in random shapes and a real-time rolling path planning method of AUV based on fuzzy control is proposed, which adopted the rolling optimization theory of predictive control. It makes full use of the environmental information detected by the sensors and assorts the working condition apperceived by the underwater robot. It deduces the real-time rolling path planning method by the use of fuzzy control strategy in each sort, and realizes the synchronous control of AUV's turning angle and velocity. It also propose the alternative way for the selection of virtual or true objects, which aimed at walking in the region has concave obstacles, and solves the problem of trap and wander in the real-time path planning. The simulation results indicate that the method is feasible and effective.