Autonomous underwater vehicle (AUV) control behavior fusion method based on feedback fusion structure

The invention provides an autonomous underwater vehicle (AUV) control behavior fusion method based on a feedback fusion structure. Output of a gaze guidance behavior, a trajectory tracking behavior and an obstacle avoidance behavior of the AUV are interrelated, the gaze guidance behavior is a main guidance method, the trajectory tracking behavior and the obstacle avoidance behavior are correctionsfor the gaze guidance behavior, and a general output result as shown in the specifications is thus obtained through fusion. Through fusion, the vehicle can be ensured to be out of a safety distance away from the obstacle and least deviate from a task trajectory, and the fusion structure just meets the requirements. 本发明提出种基于反馈融合结构的自主水下航行器控制行为融合方法，将AUV视线导引行为、轨迹跟踪行为和避障行为的输出相互关联，其中视线导引行为是主要的导引方法，轨迹跟踪行为和避障行为对视线导引行为个修正，从而融合得到总的输出结果通过融合既能够保证航行器在距离障碍的安全距离之外，又能够偏离任务轨迹最少，融合结构刚好满足这个需求。