The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been growing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system, UUV path planning and UUV trajectory tracking. This paper provides a comprehensive review of conventional and intelligent technologies for motion planning and tracking control of UUVs. Analysis of the benefits and drawbacks of these various methodologies in literature is presented. In addition, the challenges and prospects of UUV motion planning and tracking control are provided as possible developments for future research.
翻译:无人驾驶潜水器(UUV)的运动规划和跟踪控制技术对于高效和稳健的UUV导航至关重要,而UUV对水下救援、设施维护、海洋资源勘探、水生娱乐等至关重要。 全世界关于UUV运动规划和跟踪控制的研究正在迅速增加,通常分为以下专题:多UV系统的任务分配、UUV路径规划和UUV轨迹跟踪。本文件全面审查了用于机动规划和跟踪UUV的常规和智能技术。还介绍了文献中这些不同方法的利弊分析。此外,UUV运动规划和跟踪控制的挑战和前景是未来研究可能的发展。