Liang, X.; Hua, X.; Su, L.; Li, W.; Yin, Q., and You, Y., 2015. Energy conservation control strategy of autonomous underwater vehicle for ocean search.

This paper addresses the development of the remote of autonomous underwater vehicle (AUV), and proposes an energy conservation control strategy of AUV for ocean search. Combining the expected effect of motion planning and control execution, we build optimal “planning-control” systems of AUV based on rolling optimization, and propose the optimization methods: multi-step forecast planning and single-step control execution. At every moment, planner outputs target quantities, and the AUV model and controller give forecast outputs. Optimization is made to get optimal quantities of the state sequence, according to which a beat control is performed. Simulations are conducted, and the results show that the path is of optimal energy consumption, and the control strategy reduces the volatility of the control quantities and the risk of autonomous obstacle avoidance caused by external disturbances.