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Vertical Obstacle Avoidance and Navigation of Autonomous Underwater Vehicles with H∞ Controller and the Artificial Potential Field Method

Published online by Cambridge University Press:  20 August 2018

Shun-Min Wang ,
Ming-Chung Fang  and
Cheng-Neng Hwang
Shun-Min Wang*
Affiliation:
(Department of Systems & Naval Mechatronic Engineering, National Cheng-Kung University, Tainan, 70101, Taiwan)
Ming-Chung Fang
Affiliation:
(Department of Systems & Naval Mechatronic Engineering, National Cheng-Kung University, Tainan, 70101, Taiwan)
Cheng-Neng Hwang
Affiliation:
(Department of Systems & Naval Mechatronic Engineering, National Cheng-Kung University, Tainan, 70101, Taiwan)
*
(E-mail: [email protected])
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Abstract

An H∞ controller combined with an Artificial Potential Field Method (APFM) was applied to seabed navigation for Autonomous Underwater Vehicles (AUVs), aimed particularly at obstacle avoidance and bottom-following operations in the vertical plane. Depth control and altitude control prevented the AUV from colliding with the sea bottom or with obstacles and prevented the AUV from diving beyond its maximum depth limit when bottom following. Simulation and laboratory trials with various seabed contours indicated that with the H∞ controller, the AUV was able to safely reach appointed destinations without collisions. Tests also showed that the H∞ controller was robust and suppressed interference, hence ensuring the precision of its navigation control. The proposed H∞ controller combined with the APFM has thus been proved to be both feasible and effective.

Keywords

Autonomous underwater vehicleArtificial potential field methodObstacle avoidanceH∞ controller
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 1 , January 2019 , pp. 207 - 228
Copyright
Copyright © The Royal Institute of Navigation 2018 

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