Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

Oren Gal

doi:10.5402/2013/329591

Abstract

This paper presents two efficient methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods take into account the dynamic constraints of the vehicle using advanced simulator of AUV considering low level control and stability effects. We present modified visibility graph local avoidance method and a spiral algorithm for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.

Highlights

Path planning and obstacle avoidance are an important issues for Autonomous Underwater Vehicles (AUVs), and as can be noticed lately, these fields are extensively studied.Currents disturbances can have a big influence in a different water depth and should be considered in underwater environments [1]
This paper presents several different AUV path planning algorithms avoiding obstacle based on local perception abilities based on forward looking sonar
In this research we presented two different methods for AUV, based on local and global planning methods

Summary

Introduction

Path planning and obstacle avoidance are an important issues for Autonomous Underwater Vehicles (AUVs), and as can be noticed lately, these fields are extensively studied. Currents disturbances can have a big influence in a different water depth and should be considered in underwater environments [1]. Online replanning in 3D underwater environments with strong, dynamic, and uncertain currents was presented in [3]. AUV suffers from a limited energy source, which can be minimized by planning optimal trajectories, extending the working time of the vehicle. Optimal path planning using A∗ algorithm search was presented by Carroll et al [4]. This paper presents several different AUV path planning algorithms avoiding obstacle based on local perception abilities based on forward looking sonar. Simulations in typical underwater environments are presented, demonstrating algorithm’s capabilities

Vehicle Simulator

Visibility Graph Algorithm

Spiral Algorithm

Conclusions