Dynamic Obstacle Avoidance for Submarine Cable Laying AUVs Based on Model Prediction

[Objective]Autonomous underwater vehicle (AUV) needs to take into account the quality of cable-laying and its own safety when performing independent cable-laying operations under the complex terrain environment of the seabed, i.e., it needs to maintain the relative height of the vessel and the seabed plane while avoiding obstacles. To this end, a model prediction-based optimal obstacle avoidance control method is designed for submarine cable laying AUVs. [Methods] Firstly, the moving obstacle information detected by the AUV is used to screen out obstacles with collision risk using the obstacle avoidance strategy, and the virtual collision area is constructed based on the strategy. Then, the objective optimisation function is designed according to the obstacle avoidance demand and the requirements of the sea cable laying. Finally, the shortest path algorithm is used to iteratively calculate the optimal obstacle avoidance path that can maintain a stable height with the seabed and also satisfy the shortest path. [Results]Simulation results show that the method has excellent response performance and high reliability, which can help AUVs to choose the shortest path and avoid sudden obstacles. [Conclusion] In the complex submarine environment, this method not only ensures the safety of AUV during operation, but also significantly improves the quality of cable laying.