A quick algorithm for planning a path for a biomimetic autonomous underwater vehicle

• Autorzy: Praczyk T.

Identyfikatory

DOI

10.17402/081

• Języki publikacji: EN

Abstrakty

EN

Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with specialized software. The task of the software is to move the vehicle along a trajectory while avoiding collisions. In its role of avoiding obstacles, the vehicle may sometimes encounter situations in which it is very difficult to determine what the next movement should be from an ad hoc perspective. When such a situation occurs, a planning component of the vehicle software should be run with the task of charting a safe trajectory between nearby obstacles. This paper presents a new path planning algorithm for a Biomimetic Autonomous Underwater Vehicle. The main distinguishing feature of the algorithm is its high speed compared with such classic planning algorithms as A*. In addition to presenting the algorithm, this paper also summarizes preliminary experiments intended to assess the effectiveness of the proposed algorithm.

Słowa kluczowe

EN

path planning; underwater vehicle; autonomy; collision avoidance; automatic control; effective planning algorithm

• Wydawca: Wydawnictwo Naukowe Akademii Morskiej w Szczecinie
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Szczecinie
• Rocznik: 2016
• Tom: nr 45 (117)
• Strony: 23--28
• Opis fizyczny: Bibliogr. 5 poz., rys.

Twórcy

autor

Praczyk T.

• Polish Naval Academy 69 Śmidowicza St., 81-103 Gdynia, Poland

Bibliografia

• 1. Gu, J. (1992) Efficient local search for very large-scale satisfiability problems. Sigart Bulletin 3 (1). pp. 8–12.
• 2. Malec, M., Morawski, M. & Zając, J. (2010) Fish-like swimming prototype of mobile underwater robot. Journal of Automation, Mobile Robotics & Intelligent Systems 4 (3). pp. 25–30.
• 3. Rayward-Smith, V.J., Osman, I.H. & Reeves, C.R. (eds) (1996) Modern Heuristic Search Methods. London, UK: John Wiley.
• 4. Selman, B. & Gomes, C.P. (2006) Hill-climbing Search. Encyclopedia of Cognitive Science.
• 5. Szymak, P., Malec, M. & Morawski, M. (2010) Directions of development of underwater vehicle with undulating propulsion. Polish Journal of Environmental Studies 19 (3). Hard Publishing Company, Olsztyn. pp. 107–110.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.