This paper introduces 3-D surface tracking control of an Unmanned Underwater Vehicle (UUV) in tunnel-like environments. Consider the case where a sonar transducer in the UUV does not rotate, and it only emits fixed sonar ray reporting a simple distance measurement. This reduces the power consumption of the UUV, while reducing the UUV’s size and price. The UUV is controlled to proceed in tunnel-like environments, while maintaining a predefined distance from the tunnel boundaries. For maintaining a predefined distance from tunnel boundaries, the UUV uses fixed sonar rays surrounding it. As far as we know, our article is novel in developing 3-D surface tracking controls of tunnel-like environments utilizing an UUV with fixed sonar rays surrounding it. MATLAB simulations are used for demonstrating the performance of the proposed tracking controls.

本文介绍了隧道环境中无人水下航行器 (UUV) 的 3D 表面跟踪控制。考虑 UUV 中的声纳传感器不旋转的情况，它仅发射固定声纳射线报告简单的距离测量。这降低了UUV的功耗，同时降低了UUV的尺寸和价格。 UUV 被控制在类似隧道的环境中前进，同时与隧道边界保持预定距离。为了与隧道边界保持预定距离，UUV 在其周围使用固定声纳射线。据我们所知，我们的文章在利用周围有固定声纳射线的 UUV 开发类似隧道环境的 3D 表面跟踪控制方面是新颖的。 MATLAB 仿真用于演示所提出的跟踪控制的性能。