Researchers:

Mr. S.Saravanakumar, Dr. Asokan Thondiyath

The main objective of the research is to develop control strategy and control algorithm for obstacle avoidance and dynamic
path planning of a flat-fish shaped underactuated AUV in 3D space by incorporating the vehicle speed variations, obstacle
size and obstacle speed in the control strategy.

Development of control strategy and control algorithm in 3D space
with dynamics of vehicle and obstacle
Development of integrated hardware-software simulator (HIL )
Simulation and study of the system with different operating
conditions and environmental disturbances
Experimental verification
Research Objective
Fig. 2. Methodology of 2D obstacle avoidance algorithm
Fig.1. Coordinate frame assignment of
flat-fish AUV
The 6 d.o.f non linear equation of motion of an
AUV:



where,
M= inertia matrix (including added mass)
C(v)= matrix of coriolis and centripetal matrix
(including added mass)
D(v)= damping matrix
= vector of control forces and moments
= vector of control inputs



t = q + + + ) ( g v ) v ( D v ) v ( C v M
) (q g
t
| |
T
r , q , p , w , v , u v =
| |
T
, , , z , y , x u | = q
Fig.4 Flat fish AUV with circular obstacles of
various sizes with waypoints
- Way point - Obstacle
Fig.3. Flat fish AUV with circular obstacles of same size
with waypoints
- Way point
- Obstacle
Total
Potential
Repulsive Potential Attractive
Potential
Potential Field Method (PFM)
OBSTACLE AVOIDANCE AND DYNAMIC PATH PLANNING OF
AUTONOMOUS UNDERWATER VEHICLE IN 3D SPACE