<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.</p>
</abstract>

The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.

Three-Dimensional Underwater Path Planning Based on Modified Potential Field Algorithm in Time-Varying Current

Polish Maritime Research

This work is licensed under the Creative Commons Attribution 4.0 International License.

The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A...

Three-Dimensional Underwater Path Planning Based on Modified Potential Field Algorithm in Time-Varying Current

Publié en ligne: 19 avr. 2023

Pages: 33 - 42

DOI: https://doi.org/10.2478/pomr-2023-0004

Mots clés
AUV, 3D underwater path planning, time-varying current, modified artificial potential field, velocity synthesis

© 2023 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Three-Dimensional Underwater Path Planning Based on Modified Potential Field Algorithm in Time-Varying Current

Publié en ligne: 19 avr. 2023

Pages: 33 - 42

DOI: https://doi.org/10.2478/pomr-2023-0004

Mots clésAUV, 3D underwater path planning, time-varying current, modified artificial potential field, velocity synthesis

© 2023 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Mots clés
AUV, 3D underwater path planning, time-varying current, modified artificial potential field, velocity synthesis