Underwater Dynamic Target Tracking of Autonomous Underwater Vehicle Based on MPC Algorithm

Abstract

In this paper, a dynamic target tracking method based on model predictive control (MPC) algorithm was proposed for autonomous underwater vehicle (AUV). Through the processing of AUV sonar images, the dynamic target can be identified and located in real time. Then the Kalman filter was used to reasonably predict the position of the dynamic target at the next moment. Finally, MPC algorithm is applied to track the dynamic target online and follow it. Through experiments, the actual position of the target was obtained. And by simulation, MPC can accurately track dynamic targets, which has also been proved. This algorithm can not only track the trajectory, but also track the dynamic target, which meets the practical requirements