ABSTRACT
In this chapter, a three-dimensional (3-D) path-planning framework based on hybrid motion modes is proposed when the gliding underwater robot works in the marine environment. In order to enhance the yaw maneuverability, the multiple modes of yaw motion are particularly designed with the improved steering mechanism, and their performances are verified and analyzed by extensive aquatic experiments. Besides, a pitch maneuvering strategy based on a finite state machine is designed to realize excellent vertical motion. Based on the motion characteristics of the 3-D maneuverability analysis, the feasibility of the planning task is verified by the dynamic model, and the kinematic constraints are obtained simultaneously. Furthermore, the 3-D path planning method is composed of three main components, including the global path generation with gliding motion, obstacle-avoidance path planning with a dolphin-like motion, and path smoothing. Simulation results demonstrate the effectiveness of the proposed methods.
