Research on Recovery Strategy and Motion Control for Autonomous Underwater Vehicle

DOI

10.2991/acaai-18.2018.4How to use a DOI?

Keywords

AUV recovery; Motion control; S plane; Simulated annealing algorithm

Abstract

During the recovery of AUV, the hydrodynamic power of the hull becomes intricate due to the presence of the submarine. It's unable to accurately obtain the forces and moments in all degrees of freedom. In this paper, we put forward the plan of traversing, depth control and path planning for complex hydrodynamic environment, and propose a method of optimizing S-plane motion control parameters based on improved simulated annealing algorithm. The simulated annealing algorithm is improved by selecting the initial temperature, annealing algorithm, increasing the memory function, stopping the temperature setting and so on. Through using this algorithm to optimize the S-plane controller parameters, the automatic adjustment of control parameters can be realized. The simulation results show that the improved method is superior to the ordinary S-plane control method, with better control accuracy and faster response. The recovery process achieves the desired result.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yushan Sun
AU  - Lifeng Wang
AU  - Xiangrui Ran
AU  - Guocheng Zhang
PY  - 2018/03
DA  - 2018/03
TI  - Research on Recovery Strategy and Motion Control for Autonomous Underwater Vehicle
BT  - Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
PB  - Atlantis Press
SP  - 12
EP  - 16
SN  - 1951-6851
UR  - https://doi.org/10.2991/acaai-18.2018.4
DO  - 10.2991/acaai-18.2018.4
ID  - Sun2018/03
ER  -