Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Design of Behavior-Based Modular Decision-Making Control System for Autonomous Underwater Vehicle
FSKD '09 Proceedings of the 2009 Sixth International Conference on Fuzzy Systems and Knowledge Discovery - Volume 04
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In this paper new method of path planning for autonomous underwater vehicle (AUV) in large-scale underwater environment is presented. The main idea behind this method is to make full use of the local real-time environment information, partition global working environment dynamically and optimize each local area using Fast Marching algorithm (FM), finally generate a global quasi-optimal path from start to the destination. Simulation shows this method is of good performance in convergency and reliability, can fulfill demand of the experiment. Furthermore, path tracking algorithm based on kinematics model and hydrodynamics model of AUV in the case of depth-fixed is designed. The effectivity of proposed methods is validated my simulation experiments.