自律型海中ロボットの環境外乱中における最適誘導及び運動制御

抄録

This paper presents a numerical solution algorithm for the optimal guidance law of AUV (Autonomous Underwater Vehicle), when it transfers between two predetermined points in the region of environmental flow disturbances. In the formulation of optimal guidance law, position vector of the vehicle relative to the inertial frame is qualified as the state vector, while the vehicle's heading as the input. Optimized sequence of the vehicle's heading is obtained in time domain as the solution of the formulated optimal guidance law. Heading control of AUV using this optimized sequence as the reference completes the optimally guided navigation under the given disturbances. Proposed algorithm is applicable to time-varying flow disturbances as well as time-invariant ones, if only the distributions of them are known a priori. Minimum time guidances followed by the optimal heading tracking control are applied to the navigation of r2D4, which is the latest version of cruising type AUV, developed by IIS, the University of Tokyo. Effectiveness of the optimal guidance shows its primary dependency on the detailed distribution of flow disturbances.