Virtual Goal Method for Homing Trajectory Planning of an Autonomous Underwater Vehicle

J. Ocean Eng. Technol. 2009;23(5):61-70.

Park Sung-Kook,Lee Ji-Hong,Jun Bong-Huan,Lee Pan-Mook

BK21 Mechatronics Group at Chungnam National Uni.,BK21 Mechatronics Group at Chungnam National Uni.,Maritime & Ocean Engineering Research Institute KORDI,Maritime & Ocean Engineering Research Institute KORDI

가상의 목표점을 이용한 무인 잠수정의 충돌회피 귀환 경로계획

박성국,이지홍,전봉환,이판묵

충남대학교 BK²¹ 메카트로닉스사업단,충남대학교 BK²¹ 메카트로닉스사업단,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소

Keywords: AUV(Autonomous underwater vehicle), Virtual goal, Trajectory planning, Tracking control

핵심용어: 자율무인잠수정, 가상 목표점, 경로계획, 추종제어

Abstract

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.