Research on Autonomous Planning for AUV in Unstructured Environment
Autonomous planning is an important ability for autonomous underwater vehicle (AUV), which is a crucial factor for ensuring and guiding AUV to long-term navigate and accomplish its mission in large range and unstructured oceanic area. In general, the technology of autonomous planning could be sorted into global path planning and local path planning. In this paper, the former is solved by adopting adaptive genetic algorithm (AGA), which aimed at searching an optimized path according to some optimization criteria in a known and certain environment. This algorithm also can be adapted and applied to dynamic plan a collision-free path based on sonar and real-time navigate AUV in unknown and uncertain environment. By analyzing the motion security of AUV, two kinds of regions which are defined as forbidden zone and potential collision zone, and some safety motion criterions are also proposed for AUV. All of above researches are simulated in a semi-physical simulation platform, and the results show that the autonomous planning algorithms are valid, efficient and reliable. The adaptive abilities and autonomy of AUV can make it possible to long-term navigate in ocean and succeed in its mission.
KeywordsPath Planning Autonomous Underwater Vehicle Path Planner Global Planning Adaptive Genetic Algorithm
Unable to display preview. Download preview PDF.
- 1.Nan, Y., Ying, L., Eicher, L.: Real-time 3D Path Planning for Sensor-based Underwater Robotics Vehicles in Unknown Environment. Oceans, 2051–2058 (1999)Google Scholar
- 3.Cushieri, J., Negahdaripour, S.: Use of Forward Scan Sonar Images for Positioning and Navigation by an AUV. Oceans 2, 752–756 (1998)Google Scholar
- 4.Ming, Z., Shudong, S., Yanwu, P.: A Simple but Efficient Method for Path Planning of Mobile Robot Using Genetic Algorithm. Journal of Northwestern Polytechnical University, 580–583 (1998)Google Scholar
- 5.Hongjian, W., Xinqian, B., et al.: A GA Path Planner Based on Domain Knowledge for AUV. In: Oceans 2004 MTS/IEEE Techno-Ocean 2004, pp. 1570–1573 (2004)Google Scholar
- 6.Mingqiang, L., Jisong, K., et al.: Basic Theory and Application of Genetic Algorithm, pp. 57–68. Science Publishing Company (2002)Google Scholar
- 7.Xiaohui, L., Wei, W., Qinping, Z., et al.: Research on a Global Path Planning Method Based on Genetic Algorithm and Large Scale Real Terrain Data. Journal of Computer Research and Development, 301–306 (2002)Google Scholar