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Path planning for autonomous underwater vehicle docking in stationary obstacle environment
conference contribution
posted on 2023-05-23, 18:55 authored by Liu, C, Fan, S, Li, B, Chen, S, Xu, Y, Xu, WIn this paper, we study the curvature-constrained path planning problem for AUV docking in stationary obstacle environment. Expanded obstacle circles are used to redefine the polygonal obstacles, thus the curvature constraint is incorporated into the path planning algorithm. Unlike the existing algorithms that try to avoid the obstacles when the planning path collides with them, the novel algorithm proposed in this paper takes the overall situation into consideration from the very beginning. Modeling the path planning problem using graph theory, the algorithm guarantees to generate the optimal Dubins path in polynomial complexity. The simulation results show that this algorithm outperforms the existing ones in terms of the path length.
History
Publication title
Proceedings of OCEANS '16 MTS/IEEE ShanghaiPagination
705-709ISBN
978-1-4673-9724-7Department/School
Australian Maritime CollegePublisher
IEEE-Inst Electrical Electronics Engineers IncPlace of publication
USAEvent title
OCEANS ’16 MTS/IEEE ShanghaiEvent Venue
Shanghai, ChinaDate of Event (Start Date)
2016-04-10Date of Event (End Date)
2016-04-13Repository Status
- Restricted