Design of X-rudder autonomous underwater vehicle's quadruple-rudder allocation with Lévy flight character. (23rd November 2017)

• Record Type: Journal Article
• Authors: Zhang, Yinghao; Li, Yueming; Zhang, Guocheng; Zeng, Jiangfeng; Wan, Lei
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 6(2017:Nov./Dec.)
• Publication Date: 2017-11-23
• Subjects: Autonomous underwater vehicle -- X rudder -- quadruple-rudder allocation -- Lévy flight -- multi-objective optimization; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417741738
• Languages: English
• ISSNs: 1729-8806

Abstract

This article addresses one quadruple-rudder allocation method for an autonomous underwater vehicle (AUV) equipped with X rudder, in which all of the rudders can be operated independently. By considering X rudder's character, one X-rudder AUV's control information frame is designed. It contains the anti-normalization method based on virtual rudders and one quadruple-rudder allocation with Lévy flight character. This quadruple-rudder allocation method has the advantages of Lévy flight and avoids the shaking problem. One contrast simulation of a lawn mower path following mission in three-dimensional (3D) space is performed. The results of simulation show that the quadruple-rudder allocation with Lévy flight character can offer accurate and reliable control ability. Besides that, compared to the quadruple-rudder allocation based on pseudoinverse and fixed point iteration, the method designed with Lévy flight character can achieve the same mission with less X rudder's operation.