Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles

The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered...

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Bibliographic Details
Main Authors: Sergey Ulyanov, Igor Bychkov, Nikolay Maksimkin
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Applied Sciences
Subjects:
Online Access:https://www.mdpi.com/2076-3417/10/21/7894
Description
Summary:The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered on the path. A two-level control system is proposed with an upper level for event-driven path planning and a lower level for path-following. A discrete event system is designed to identify situations that require planning a new path. An improved waypoint guidance algorithm and a Dubins curves based algorithm are proposed to build paths that allow the AUV to avoid collision with obstacles and to return to the reference path respectively. Both algorithms generate paths that meet the minimum turning radius constraint. A robust parameter-varying controller is designed using sublinear vector Lyapunov functions to solve the path-following problem. The performance of the developed event-based control system is demonstrated in three different simulation scenarios: with a sharp-edged obstacle, with a U-shaped obstacle, and with densely scattered obstacles. The proposed scheme does not require significant computing resources and allows for easy implementation on board.
ISSN:2076-3417