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Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

  • Gal O
ISRN Robotics (2013) 2013 1-6
DOI: 10.5402/2013/329591
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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.

Figures

  • Figure 1: Block diagram of the AUV simulator [Braginsky, BGU].
  • Figure 2: Obstacle’s nodes.
  • Figure 4: OA with spiral algorithm with typical scenarios (a), (b), and (c).
  • Figure 6: Calculating alpha angle in a collision course.
  • Figure 5: Vehicle moving to a waypoint changing vehicle course.
  • Figure 7: Added waypoints avoiding an obstaces.
  • Figure 8: OA with spiral algorithm with typical scenarios (a), (b), and (c).

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CITATION STYLE

APA

Gal, O. (2013). Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation. ISRN Robotics, 2013, 1–6. https://doi.org/10.5402/2013/329591

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