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Three-dimensional underwater path planning based on modified potential field algorithm in time-varying current

Wang Shasha, Feng Guilin, Wang Dan, Tuo Yulong

Polish Maritime Research

2023

nr 1

33--42

The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.

Robust trajectory tracking control of underactuated surface vehicles with prescribed performance

Wang Shasha, Tuo Yulong

Polish Maritime Research

2020

nr 4

148--156

In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steadystate performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.