Daqi Zhu, Chunlei Cheng, and Bing Sun
AUV, path planning, artificial potential field, velocity synthesis, ocean current
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.
Important Links:
Go Back
