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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 290-296
LI Juan, ZHANG Jian-xin, YANG Li-juan, YAN Zhe-ping. Dynamic Target Tracking Guidance Method for UUV in Unknown Environment[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 290-296. doi: 10.11993/j.issn.1673-1948.2019.03.009
Citation: LI Juan, ZHANG Jian-xin, YANG Li-juan, YAN Zhe-ping. Dynamic Target Tracking Guidance Method for UUV in Unknown Environment[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 290-296. doi: 10.11993/j.issn.1673-1948.2019.03.009
shu

Dynamic Target Tracking Guidance Method for UUV in Unknown Environment

doi: 10.11993/j.issn.1673-1948.2019.03.009
  • 1.

    College of Automation, Harbin Engineering University, Harbin 150001, China

  • 2.

    Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China

  • 3.

    JiangNan ShipbuildingGroup Co. Ltd. Shanghai 201913, China

  • Received Date: 2018-11-19
  • Rev Recd Date: 2018-12-18
  • Publish Date: 2019-06-30
    Abstract
  • For the random dynamic target tracking problem of unmanned undersea vehicle(UUV)in unknown environment, a tracking and obstacle avoidance switching guidance strategy is proposed. The relative kinematics relation between target and UUV, as well as target and obstacle, is established, and the saturation constraint condition of speed and angular velocity in UUV motion control is taken into account. Lyapunov method is then used to complete the design of dynamic target tracking and obstacle avoidance strategy based on line of sight switching guidance in order to meet UUV navigation safety and tracking accuracy. Numerical simulation with the proposed method is carried out, and the results show that the tracking precision meets the requirement in both static and dynamic obstacle environments, verifying the correctness and feasibility of the tracking and obstacle avoidance switching guidance strategy.

     

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