Dynamic analysis and adaptive obstacle avoidance algorithm of wave glider based on fuzzy control

摘要

This paper takes the wave glider as the research object. The wave glider is studied comprehensively from the aspects of motion mechanism, motion law and hydrodynamic performance. Firstly, based on the turbulence model of RANS equation, dynamic mesh method, the hydrodynamic performance of two-dimensional tandem hydrofoils is analyzed, which has been developed twice. The paper puts forward the a obstacle avoidance algorithm of wave glider based on fuzzy control. Combining the principle of line-of-sight navigation with the idea of fuzzy control, the path planning of wave glider is carried out. The simulation and experimental results show that the algorithm can provide real-time and stable motion path of the wave glider, effectively avoid obstacles and safely reach the target point.