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《中国舰船研究》近日在线发表了2024年第一期英文翻译版文章，题为
Optimal obstacle avoidance design of autonomous underwater vehicle for cable laying based on model prediction control
基于模型预测的海缆铺设用水下航行器最优避障控制
The independent cabling operation of an autonomous underwater vehicle (AUV) in complex submarine terrain should balance cabling quality with self-safety, which means that the AUV should maintain a stable height relative to the seabed. To this end, this paper designs an optimal obstacle avoidance design for a cable-laying AUV based on model prediction control (MPC).
First, the method establishes a path-following control model based on MPC. It then classifies different obstacles into topographic bulges or depressions, and establishes a simplified mathematical model of the obstacles. Second, the method designs multiple objective optimization functions for different topographic environments according to the feature points, allowing the AUV to choose the shortest path with the minimum variation in cable-laying height.
The results show that this method achieves the most minimal changes in cable-laying height while also choosing the most optimal path to avoid obstacles.
The proposed method not only ensures the safety of AUVs in complex submarine terrain, but also greatly improves the laying quality of submarine cables.
自主水下航行器（AUV）在海底复杂地形环境下执行独立铺缆作业时，需要兼顾铺缆质量和自身安全，即在避障的同时还需要保持船体与海底平面的相对高度。为此，设计一种基于模型预测的海缆铺设AUV最优避障控制方法。
首先，基于模型预测控制（MPC）建立AUV的路径跟踪模型，将海底不规则障碍物分类为凸起和凹陷地形，并分别建立障碍物的工程简化数学模型；然后，根据不同地形和海缆铺设要求来设计多个目标优化函数；最后，根据地形特征点迭代计算与海底平面保持稳定高度且路径最短的最优避障路径。
仿真结果表明，该方法响应性能好、可靠性高，能够使AUV选择最短路径并避开意外障碍物。
结论 在复杂的海底环境下，该方法既保障了AUV作业过程中的自身安全，又极大提高了海缆的铺设质量。
凸起避障仿真图
往期英文文章回顾：
1. Optimal trajectory tracking control of unmanned surface vehicle formation under unknown disturbances/未知扰动下的无人艇编队优化轨迹跟踪控制
2.Unmanned ship heading tracking control strategy with state quantization and input quantization/带有状态/输入量化的无人艇航向跟踪控制
3. Predefined time tracking control of underactuated surface vessel with input saturation/基于输入饱和的欠驱动水面舰艇预定义时间跟踪控制
4.Design of ship course keeping controller based on zero-order holder and nonlinear modification/基于非线性修饰和零阶保持器的船舶航向保持控制
编辑部整理了2019年以来出版的英文双语论文，每篇均对应出版了中英文两种语言版本，并按专业进行了分类。请点击“2019年以来双语版论文汇总”查看。
中国舰船研究
Chinese Journal of Ship Research
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