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Path planning for autonomous underwater vehicle docking in stationary obstacle environment

Citation

Liu, C and Fan, S and Li, B and Chen, S and Xu, Y and Xu, W, Path planning for autonomous underwater vehicle docking in stationary obstacle environment, Proceedings of OCEANS '16 MTS/IEEE Shanghai, 10-13 April 2016, Shanghai, China, pp. 705-709. ISBN 978-1-4673-9724-7 (2016) [Non Refereed Conference Paper]


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PDF (Chenzhan Liu, Shuangshuang Fan, Bo Li, Shumin Chen, Yuanxin Xu, and W. Xu, “Path planning for autonomous underwater vehicle docking in stationary obstacle environment,” MTS/IEEE OCEANS'16 Shanghai, pp. 1-5, 2016.4)
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Official URL: https://ieeexplore.ieee.org/document/7485467/

DOI: doi:10.1109/OCEANSAP.2016.7485467

Abstract

In 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.

Item Details

Item Type:Non Refereed Conference Paper
Keywords:AUV, docking, path planning, optimal Dubins path, obstacle circle
Research Division:Engineering
Research Group:Electrical and Electronic Engineering
Research Field:Control Systems, Robotics and Automation
Objective Division:Defence
Objective Group:Defence
Objective Field:National Security
UTAS Author:Fan, S (Dr Shuangshuang Fan)
ID Code:125990
Year Published:2016
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-05-21
Downloads:0

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