Reaearch on the Ocean Environment Implementation Methods for Digital AUV Platform

For the purpose of building a robust AUV controller, which could be used to handle complex ocean environment, a method of obtaining benthos terrain based on electronic chart is presented. Firstly, some terrain conversion algorithms for development of the benthos terrain, such as nearest neighbor interpolation, linear interpolation, cubic interpolation and v4-interpolation are compared. Secondly, a new terrain conversion algorithm for development of the benthos terrain DTTCGSFD (Delaunay triangle-based terrain considering of grid, sparse, feature data) is introduced. This method considers the data not only distance constant grid data, sparse data, but also feature data with the terrain data, such as fathom line etc. In the end, two kinds of current implement methods are presented. The result, which is of importance in the AUV research of terrain matching navigation, path planning and obstacle avoidance strategy, has been applied to the research work of our digital AUV platform