Redirigiendo al acceso original de articulo en 22 segundos...
ARTÍCULO
TITULO

A Trajectory Tracking and Local Path Planning Control Strategy for Unmanned Underwater Vehicles

Xun Zhang    
Ziqi Wang    
Huijun Chen and Hao Ding    

Resumen

The control strategy of an underdriven unmanned underwater vehicle (UUV) equipped with front sonar and actuator faults in a continuous task environment is investigated. Considering trajectory tracking and local path planning in complex-obstacle environments, we propose a task transition strategy under the event-triggered mechanism and design the corresponding state space and action space for the trajectory tracking task under the deep reinforcement learning framework. Meanwhile, a feed-forward compensation mechanism is designed to counteract the effects of external disturbances and actuator faults in combination with a reduced-order extended state observer. For the path planning task under the rapidly exploring random tree (RRT) framework, a reward component and angular factors are introduced to optimize the growth and exploration points of the extended tree under the consideration of the shortest distance, optimal energy consumption, and steering angle constraints. The effectiveness of the proposed method was verified through continuous task simulations of trajectory tracking and local path planning.

 Artículos similares

       
 
Pengfei Ning, Dianjun Zhang, Xuefeng Zhang, Jianhui Zhang, Yulong Liu, Xiaoyi Jiang and Yansheng Zhang    
The Array for Real-time Geostrophic Oceanography (Argo) program provides valuable data for maritime research and rescue operations. This paper is based on Argo historical and satellite observations, and inverted sea surface and submarine drift trajectori... ver más

 
Dimitrios Kaklis, Ioannis Kontopoulos, Iraklis Varlamis, Ioannis Z. Emiris and Takis Varelas    
Trajectory data holds pivotal importance in the shipping industry and transcend their significance in various domains, including transportation, health care, tourism, surveillance, and security. In the maritime domain, improved predictions for estimated ... ver más

 
Atefe Sedaghat, Homayoon Arbabkhah, Masood Jafari Kang and Maryam Hamidi    
This research introduces an online system for monitoring maritime traffic, aimed at tracking vessels in water routes and predicting their subsequent locations in real time. The proposed framework utilizes an Extract, Transform, and Load (ETL) pipeline to... ver más

 
Yilin Qu, Xiao Xie, Shucheng Zhang, Cheng Xing, Yong Cao, Yonghui Cao, Guang Pan and Baowei Song    
The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically comprises a central rigid body and flexible pectoral fins. Flexible fins provide... ver más

 
Ali Dorosti, Ali Asghar Alesheikh and Mohammad Sharif    
Advancements in navigation and tracking technologies have resulted in a significant increase in movement data within road networks. Analyzing the trajectories of network-constrained moving objects makes a profound contribution to transportation and urban... ver más
Revista: Information