中文摘要：

在基于行为的控制体系结构下,提出一种自主水下航行器（AUV）的无碰路径跟踪控制方法,包含路径跟踪和避碰两种基本行为.其中,路径跟踪行为根据由全局路径规划得到的最优曲线路径和当前AUV的位姿信息,通过控制AUV航向使AUV跟踪参考路径航行,保证路径跟踪误差的全局渐近稳定.避碰行为则根据前视声呐探测到的障碍物距离和方位信息,采用模糊推理方法计算AUV的转动方向和角度以避开障碍物.最后,依据路径跟踪行为和避碰行为产生的转向角指令方向和大小关系进行行为的协调和仲裁.仿真研究结果验证了该无碰路径跟踪控制的有效性.

英文摘要：

To make an autonomous underwater vehicle（AUV） capable of avoiding multiple obstacles in proximity along its track path planned by the global path planning algorithms,the collision free path following control is proposed within the behavior-based system architecture including two basic behaviors,namely the path following behavior and the obstacle avoidance behavior.In the path following behavior,the AUV＇s yaw command is designed by the nonlinear cross-tracking control technique to make the path following errors globally asymptotically stable.Meanwhile,the obstacle avoidance behavior is accomplished using the fuzzy logic methodology with the ranges and bearings of the obstacles measured by the forward looking sonar.The arbitrator chooses the active behavior according to the signs and magnitudes of the desired head change angles of the two behaviors.Simulation results demonstrate the obstacle avoidance capability of the AUV following the planned path.