Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation | Zendy

Oren Gal | Zendy

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Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

Author(s) -

Oren Gal

Publication year - 2013

Publication title -

isrn robotics

Language(s) - English

Resource type - Journals

ISSN - 2090-8806

DOI - 10.5402/2013/329591

Subject(s) - obstacle avoidance , motion planning , collision avoidance , visibility , obstacle , computer science , visibility graph , trajectory , stability (learning theory) , underwater , remotely operated underwater vehicle , graph , path (computing) , control theory (sociology) , algorithm , real time computing , control engineering , artificial intelligence , mobile robot , engineering , control (management) , robot , mathematics , machine learning , collision , computer security , law , oceanography , optics , geometry , theoretical computer science , regular polygon , political science , programming language , physics , astronomy , geology

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.

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