Stealth path planning for a high speed torpedo-shaped autonomous underwater vehicle to approach a target ship

被引：22

作者：

Kim, Jonghoek ^{[1
]}

Kim, Sanghoek ^{[2
]}

Choo, Youngmin ^{[3
]}

机构：

[1] Department of Electrical and Computer Engineering, Hong Ik University, Sejong, Korea, Republic of

[2] Department of Electrical and Computer Engineering, Kyunghee University, Suwon, Korea, Republic of

[3] Sejong University, Seoul, Korea, Republic of

来源：

Cyber-Physical Systems | 2018年 / 4卷 / 01期

关键词：

Autonomous vehicles - Motion planning - MATLAB;

D O I：

10.1080/23335777.2018.1431959

中图分类号：

学科分类号：

摘要：

Let us consider a scenario where a high speed torpedo-shaped autonomous underwater vehicle (AUV) approaches a target ship. In an underwater environment, radio waves are easily dissipated. Thus, sound is the main energy transmitted from the AUV to the target ship. We plan the path of the AUV to reduce both the time required to meet the target ship and the AUV’s sound measured by the target. We consider a torpedo-shaped AUV equipped with backward propellers to move forward and fins for heading control. For this type of vehicle, there is an instantaneous maximum turn rate for its motion. In order to increase the safety of path, we plan the AUV’s path so that a sharp corner along the path is avoided. We verify the effectiveness of our stealth path planning method using MATLAB simulations. © 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group.

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