基于Dubins路径的AUV动态对接轨迹规划

王悦; 冉启利; 张元旭; 唐清华; 陈国防; 高剑

doi:10.11993/j.issn.2096-3920.2026-0088

基于Dubins路径的AUV动态对接轨迹规划

doi: 10.11993/j.issn.2096-3920.2026-0088

王悦^1,,
冉启利^2,,
张元旭^1,,
唐清华^1,,
陈国防^1,,
高剑^1, ,

1.
西北工业大学航海学院, 陕西西安, 710072
2.
上海民用航空控制与导航系统有限公司, 陕西西安, 710076

基金项目: 国家自然科学基金项目资助(52571392).

详细信息

作者简介:
王悦：王　悦(2002-), 女, 在读硕士, 主要研究方向为水下航行器非线性控制

通讯作者:
高　剑(1979-), 男, 博士, 教授, 主要研究方向为水下航行器控制技术.

中图分类号: TJ630.33, U674.941
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- 文章访问数: 3
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- 被引次数: 0
出版历程
- 收稿日期: 2026-05-09
- 修回日期: 2026-06-23
- 录用日期: 2026-06-25
- 网络出版日期: 2026-11-05

Dubins Path-based Dynamic Docking Trajectory Planning for Autonomous Underwater Vehicle

WANG Yue^1
,,
RAN Qili^2
,,
ZHANG Yuanxu^1
,,
TANG Qinghua^1
,,
CHEN Guofang^1
,,
Gao Jian^{1
, ,}

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
2.
Shanghai Civil Aviation Control and Navigation System Co., Ltd, Xi’an 710076, China

摘要

摘要: 自主水下航行器(AUV)的动态对接回收面临移动目标交会、终端姿态对齐及声学定位受限等多重挑战。现有轨迹规划方法难以兼顾上述约束下的时间最优性与鲁棒性。为此, 文中提出一种基于Dubins路径的时间最优动态对接轨迹规划方法。首先, 将中程导引阶段建模为水平面内的受约束最短路径问题, 通过构建时间残差函数预测移动回收平台的动态就位点, 解算满足AUV最小转弯半径约束的Dubins可行路径; 其次, 设计了一种超短基线(USBL)波束角触发的在线重规划机制, 以抑制环境扰动与观测噪声引发的轨迹发散。多工况仿真结果表明: 相较于传统视线导引法, 所提方法在典型动态对接工况下能够实现AUV对移动平台的有效追踪与终端航向对齐, 并在扰动与测量误差条件下保持良好的轨迹收敛性和抗干扰能力。
- 自主水下航行器 /
- 动态对接回收 /
- Dubins路径 /
- 轨迹规划
Abstract: The dynamic docking recovery of autonomous undersea vehicle (AUV) faces multiple challenges, including moving-target rendezvous, terminal attitude alignment, and acoustic positioning limitations. Existing trajectory planning methods struggle to simultaneously achieve time optimality and robustness under these constraints. To address these challenges, this paper proposes a time-optimal dynamic docking trajectory planning method based on Dubins paths. First, the mid-range guidance phase is formulated as a constrained shortest-path problem in the horizontal plane. By constructing a time residual function, the dynamic arrival point of the moving recovery platform is predicted, and a feasible Dubins path satisfying the minimum turning radius constraint of the AUV is solved. Second, an online replanning mechanism triggered by the beamwidth of the Ultra-Short Baseline (USBL) system is designed to suppress trajectory divergence caused by environmental disturbances and observation noise. Multi-scenario simulation results demonstrate that, compared with the traditional line-of-sight guidance method, the proposed approach enables effective tracking of the moving platform and terminal heading alignment under typical dynamic docking conditions, while maintaining good trajectory convergence and anti-interference capability under disturbances and measurement errors.
- autonomous underwater vehicle /
- dynamic docking and recovery /
- Dubins path /
- trajectory planning

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图 1 中程导引接近阶段轨迹规划示意图

Figure 1. Schematic diagram of trajectory planning in the mid-course guidance approach phase

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图 2 USBL波束角约束示意图

Figure 2. Schematic diagram of USBL beamwidth constraint

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图 3 Dubins路径基本构型

Figure 3. Basic configurations of the Dubins path

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图 4 多工况下的AUV动态对接轨迹对比

Figure 4. Comparison of AUV dynamic docking trajectories under multiple working conditions

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图 5 动态对接过程中的姿态误差曲线

Figure 5. Attitude error curve during dynamic docking process

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图 6 在线重规划轨迹

Figure 6. Online replanning trajectory

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表 1 基于Dubins路径的动态对接回收轨迹规划算法

Table 1. Dynamic docking and recovery trajectory planning algorithm based on Dubins path

项目	内容
输入	AUV初始位姿$ {\boldsymbol{p}}_{A}({t}_{0}) $、航速$ {v}_{A} $与最小转弯半径$ {R}_{\min } $; 回收平台初始位姿$ {\boldsymbol{p}}_{T}({t}_{0}) $、航速$ {v}_{T} $、航向角$ {\psi }_{T} $; 时间步长$ \Delta t $、容许滞后时间$ {T}_{\text{allow}} $、最大任务时间$ {T}_{\max } $
输出	最优对接就位点位姿; 时间最优Dubins可行轨迹
步骤	1) 在任务时间窗口$ [{t}_{0},{t}_{0}+{T}_{\max }] $内, 以时间步长$ \Delta t $枚举候选交会时间点集合$ \left\{{t}_{k}\right\} $;
	2) 对每个候选时间点$ \left\{{t}_{k}\right\} $, 计算回收平台预测位姿$ {\boldsymbol{p}}_{T}({t}_{k}) $, 求解AUV从初始位姿至该位姿的Dubins最短路径长度$ L({t}_{k}) $;
	3) 计算对应航行时间$ {\tau }_{A}({t}_{k}) $与时间残差$ f({t}_{k}) $, 判断是否满足同步交会约束(9);
	4) 选取最早满足约束的时间点$ {t}^{} $作为最优交会时刻, 输出对应对接就位点位姿$ {\boldsymbol{p}}_{T}({t}^{}) $及Dubins可行路径;
	5) 若时间窗口内无可行解, 适当降低AUV航速$ {v}_{A} $扩大可行域, 重新执行步骤1)~4)。

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表 2 仿真参数

Table 2. Simulation parameters

参数名称	符号	数值
时间步长/s	$ \Delta t $	0.1
AUV航速/(m/s)	$ {v}_{A} $	1.5
移动平台速度/(m/s)	$ {v}_{T} $	1.2
AUV最小转弯半径/m	$ R_{\min} $	11.2
最大偏航角速度/[(°)/s]	$ {\omega }_{\max } $	8.05
USBL采样更新周期/s	$ T_\text{USBL} $	10
USBL有效观测波束角/(°)	$ \alpha $	±40
对接就位区距离/m	$ {d}_{s} $	5.0

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表 3 多工况下动态对接性能指标对比

Table 3. Performance comparison of dynamic docking under multiple scenarios

工况	方法	航行时间/s	终端相对距离/m	终端航向角误差/(°)	运算时间/ms
1	LOS	39.06	4.983	1.947	2.099
1	文中	29.92	4.943	0	3.136
2	LOS	36.40	4.996	7.355	0.198
2	文中	33.16	4.991	0.000	0.749
3	LOS	11.30	4.845	180.000	0.192
3	文中	49.15	4.860	0	0.832

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