Development And Research of Path Planning Subsystem for Underwater Vehicle Control System
Abstract
Development And Research of Path Planning Subsystem for Underwater Vehicle Control System
Incoming article date: 21.11.2015This paper provides solution for the task of plane movement of the underwater vehicle using hierarchical control system. Searching A*-algorithm is used for creation of the path plan. Vehicle moves along the stated path under control of position-path regulator on the base of square form. Vehicle, used in this paper features torpedo-like form, two cruise engines and maneuvering device.
Keywords: mathematical model, underwater vehicle, planning, position-path control, A*-algorithm