Development And Research of Path Planning Subsystem for Underwater Vehicle Control System

Abstract

Development And Research of Path Planning Subsystem for Underwater Vehicle Control System

Gurenko B.V., Shapovalov I.O., Soloviev V.V., Beresnev M.A.

Incoming article date: 21.11.2015

This paper provides solution for the task of plane movement of the underwater vehicle using hierarchical control system. Searching A*-algorithm is used for creation of the path plan. Vehicle moves along the stated path under control of position-path regulator on the base of square form. Vehicle, used in this paper features torpedo-like form, two cruise engines and maneuvering device.

Keywords: mathematical model, underwater vehicle, planning, position-path control, A*-algorithm