Three-dimensional underwater path planning based on modified potential field algorithm in time-varying current

• Autorzy: Wang Shasha , Feng Guilin , Wang Dan , Tuo Yulong

Identyfikatory

DOI

10.2478/pomr-2023-0004

• Języki publikacji: EN

Abstrakty

EN

The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.

Słowa kluczowe

EN

AUV; 3D underwater path planning; time-varying current; modified artificial potential field; velocity synthesis

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2023
• Tom: nr 1
• Strony: 33--42
• Opis fizyczny: Bibliogr. 39 poz., rys.

Twórcy

autor

Wang Shasha

• College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China

• https://orcid.org/0000-0003-3688-2079

autor

Feng Guilin

• Qingdao Special Equipment Inspection Research Institute, Qingdao, China

autor

Wang Dan

• College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China

autor

Tuo Yulong

• College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China

• https://orcid.org/0000-0001-7654-9532

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).