A path planning algorithm for an Autonomous Underwater Vehicle (AUV) performing docking operations in the presence of tidal current disturbances is presented. The path planner is composed a way-point generator (WPG), an Model Predictive Control based optimal planner (OP), and a tidal current estimator (TCE). The WPG defines the next way-point with respect to the vehicle position and the OP iteratively generates the trajectory over a prescribed future horizon whilst satisfying certain physical and logical constraints. The TCE estimates the tidal current disturbance speed enabling to adapt the AUV trajectory for reducing actuators power consumption. The proposed path planning policy has been evaluated in a set of simulation scenarios to illustrate the ability of the policy to drive the AUV by satisfying specifications and limiting power consumption. Copyright (C) 2021 The Authors.
LPV-MPC Path Planner for Autonomous Underwater Vehicles / Cavanini, Luca; Majecki, Pawel; Grimble, Mike J.; Uchihori, Hiroshi; Tasaki, Mitsuhiko; Yamamoto, Ikuo. - 54:(2021), pp. 301-306. [10.1016/j.ifacol.2021.10.108]
LPV-MPC Path Planner for Autonomous Underwater Vehicles
Cavanini, Luca;
2021-01-01
Abstract
A path planning algorithm for an Autonomous Underwater Vehicle (AUV) performing docking operations in the presence of tidal current disturbances is presented. The path planner is composed a way-point generator (WPG), an Model Predictive Control based optimal planner (OP), and a tidal current estimator (TCE). The WPG defines the next way-point with respect to the vehicle position and the OP iteratively generates the trajectory over a prescribed future horizon whilst satisfying certain physical and logical constraints. The TCE estimates the tidal current disturbance speed enabling to adapt the AUV trajectory for reducing actuators power consumption. The proposed path planning policy has been evaluated in a set of simulation scenarios to illustrate the ability of the policy to drive the AUV by satisfying specifications and limiting power consumption. Copyright (C) 2021 The Authors.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
