Tracking control study of AUV large curvature path based on artificial physics method

To enhance the performance of underwater robot path tracking, an AUV path tracking method based on artificial physics (PTM-AP) is proposed. To ensure smooth AUV movement when tracking large curvature paths and reduce energy consumption, a series of continuous and smooth heading control instructions...

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Bibliographic Details
Published in:Ocean engineering Vol. 303; p. 117737
Main Authors: Xu, Xiaoting, He, Bo, Dai, Ning, Wang, Tong, Shen, Yue
Format: Journal Article
Language:English
Published: Elsevier Ltd 01.07.2024
Subjects:
Artificial physics(AP)
Autonomous underwater vehicle(AUV)
Large curvature
Line of sight(LOS)
Path tracking
Autonomous underwater vehicle(AUV)
Artificial physics(AP)
Path tracking
Large curvature
Line of sight(LOS)
ISSN:0029-8018
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Summary:To enhance the performance of underwater robot path tracking, an AUV path tracking method based on artificial physics (PTM-AP) is proposed. To ensure smooth AUV movement when tracking large curvature paths and reduce energy consumption, a series of continuous and smooth heading control instructions are parsed for the AUV. The main concept is to create a virtual physical force between the AUV and the intended path, and determine the heading control instructions based on Newton’s law. To improve tracking accuracy and convergence speed when following paths with large curvature, multiple virtual physical forces are added. The kinematics controller is then designed in conjunction with the traditional line of sight method. The algorithm designs an adaptive adjustment function and an anti-saturation link to distribute multiple virtual forces. Through simulation experiments, the most appropriate dynamics controller parameters are determined. The tracking effects of line-of-sight (LOS), artificial physics (AP), and PTM-AP are compared. The actual maritime experiment was conducted in Tuandao Bay, Qingdao, China. The results showed that compared with other algorithms, PTM-AP reduced the path convergence time by at least 26.67% and saved energy consumption by at least 25.49%. The results show that the proposed AUV path tracking algorithm based on artificial physics method is feasible when tracking larger curvature paths. •Apply the artificial physics method to the path tracking field of AUV, and analyze the tracking guidance law.•Considering the current position and attitude of the AUV, making the path tracking at large curvature smoother and reducing energy consumption.•Adding the interaction of forward pulling force and lateral pulling force makes the AUV path converge faster.•The parameters of the guidance law are given corresponding physical meanings, and the parameters are easy to adjust in practical applications.
ISSN:0029-8018
DOI:10.1016/j.oceaneng.2024.117737