An integrated AUV path planning algorithm with ocean current and dynamic obstacles

作者：Zhu Daqi; Cheng Chunlei; Sun Bing

来源：International Journal of Robotics and Automation, 2016, 31(5): 382-389.

DOI：10.2316/Journal.206.2016.5.206-4570)

• Artificial potential fields
• Autonomous underwater vehicles (AUV)
• Dynamic obstacles
• Integrated method
• Moving character
• Path planning problems
• Path-planning algorithm

Considering that it is quite different for underwater and ground situation, ocean current and obstacles are the important issues need to be solved for autonomous underwater vehicle (AUV) path planning. To deal with these problem, an integrated AUV path planning algorithm is presented through combination of velocity synthesis (VS) and artificial potential field (APF) methods. First, an enhanced APF algorithm is adopted to deal with obstacle avoidance. Then, to improve the moving character, the VS method is presented to generate an optimized path. Finally, through simulation result, it can be confirmed that the proposed integrated method can solve the AUV path planning problem very well.

• 出版日期2016
• 单位上海海事大学