Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

被引:3
作者
Zhu, Danjie [1 ]
Yan, Tao [1 ]
Yang, Simon X. [1 ]
机构
[1] Univ Guelph, Sch Engn, Guelph, ON N1G 2W1, Canada
来源
INTELLIGENCE & ROBOTICS | 2022年 / 2卷 / 03期
基金
加拿大自然科学与工程研究理事会;
关键词
Unmanned underwater vehicles; motion planning; path planning; task assignment; tracking control;
D O I
10.20517/ir.2022.13
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally sig-nificant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marineresource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been grow-ing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system,UUV path planning, and UUV trajectory tracking. This paper provides a comprehensive review of conventional andintelligent technologies for motion planning and tracking control of UUVs. Analysis of the benefits and drawbacksof these various methodologies in literature is presented. In addition, the challenges and prospects of UUV motionplanning and tracking control are provided as possible developments for future research.
引用
收藏
页码:200 / 222
页数:129
相关论文
共 1 条
[1]   Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves [J].
Cai, Wenyu ;
Zhang, Meiyan ;
Zheng, Yahong Rosa .
SENSORS, 2017, 17 (07)