Autonomous Heading Planning and Control Method of Unmanned Underwater Vehicles for Tunnel Detection

Author:

Xia Tianxing1ORCID,Cui Dehao2,Chu Zhenzhong3,Yu Xing1

Affiliation:

1. Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China

2. Shenzhen Dongjiang Water Source Project Management Office, Shenzhen 518172, China

3. School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Abstract

To address the challenge of unmanned underwater vehicle (UUV) autonomous navigation in long-distance underwater tunnel detection tasks and improve the control performance of its heading control system, a method of autonomous heading planning and control based on sonar-ranging feedback control was proposed. This method combines UUV’s autonomous heading planning technology with the heading proportion-integral-derivative (PID) control algorithm, optimizing the acquisition method of controller input data, to impart specific adaptive characteristics to the controller. Using the ranging principle of ultrasonic spontaneous self-collection, it is possible to obtain the yaw direction and angle of the vehicle relative to the target heading in the tunnel and continuously adjust the control law to change the heading as the vehicle’s heading status changes during navigation. The effectiveness of the autonomous heading planning and control method is verified through pool experiments. The analysis and experimental results show that the proposed heading planning method achieves good control effect in UUV’s underwater tunnel detection heading control, and exhibits obvious advantages in long-distance closed tunnel environments. UUV can adaptively adjust the heading according to the tunnel environment and has a fast response and strong applicability in planning and controlling the heading.

Funder

National Natural Science Foundation of China

High tech ship innovation project

Key Laboratory Foundation for Underwater Robot Technology

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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