Multi-objective quintuple polynomial trajectory optimization for unmanned underwater vehicles based on waypoint navigation

Tianyu Zhang; Yongliang Li

doi:10.1117/12.2689506

10 August 2023 Multi-objective quintuple polynomial trajectory optimization for unmanned underwater vehicles based on waypoint navigation

Tianyu Zhang, Yongliang Li

Author Affiliations +

Proceedings Volume 12748, 5th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2023); 1274829 (2023) https://doi.org/10.1117/12.2689506
Event: 5th International Conference on Information Science, Electrical and Automation Engineering (ISEAE 2023), 2023, Wuhan, China

Abstract

The unmanned underwater vehicle (UUV) based on waypoint navigation is used as the research object to optimize the multi-objective trajectory for the smooth operation, low energy consumption and low smooth impact required in the patrol task. The spatial trajectory of the unmanned underwater vehicle is constructed by a quintuple polynomial, and the motion trajectory is optimally solved using a quadratic programming algorithm by combining the position, velocity and acceleration requirements of the unmanned underwater vehicle at the beginning and end moments as well as the continuity constraints among the waypoints. The results show that the multi-objective quintuple polynomial-based algorithm achieves an effective multi-objective optimization of the unmanned underwater vehicle trajectory.

Citation Download Citation

Tianyu Zhang and Yongliang Li "Multi-objective quintuple polynomial trajectory optimization for unmanned underwater vehicles based on waypoint navigation", Proc. SPIE 12748, 5th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2023), 1274829 (10 August 2023); https://doi.org/10.1117/12.2689506

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