Optimal obstacle avoidance design of autonomous underwater vehicle for cable laying based on model prediction control

Abstract

ObjectiveThe independent cabling operation of an autonomous underwater vehicle (AUV) in complex submarine terrain should balance cabling quality with self-safety, which means that the AUV should maintain a stable height relative to the seabed. To this end, this paper designs an optimal obstacle avoidance design for a cable-laying AUV based on model prediction control (MPC).Method First, the method establishes a path-following control model based on MPC. It then classifies different obstacles into topographic bulges or depressions, and establishes a simplified mathematical model of the obstacles. Second, the method designs multiple objective optimization functions for different topographic environments according to the feature points, allowing the AUV to choose the shortest path with the minimum variation in cable-laying height. ResultsThe results show that this method achieves the most minimal changes in cable-laying height while also choosing the most optimal path to avoid obstacles. ConclusionThe proposed method not only ensures the safety of AUVs in complex submarine terrain, but also greatly improves the laying quality of submarine cables.

Keywords

• autonomous underwater vehicle
• model prediction control
• submarine cable laying
• optimal obstacle avoidance