Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation. (9th June 2013)

• Record Type: Journal Article
• Authors: Gal, Oren
• Other Names: Gini G. C. Academic Editor.; Liu J.-S. Academic Editor.; Oussalah M. Academic Editor.
• Is Part Of: ISRN robotics. Volume 2013(2013)
• Publication Date: 2013-06-09
• Subjects: Robotics -- Periodicals; Robotics; Electronic journals; Periodicals; 629.892
• DOI: 10.5402/2013/329591
• Languages: English
• ISSNs: 2090-8806

Abstract

Abstract : This paper presents two efficient methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods take into account the dynamic constraints of the vehicle using advanced simulator of AUV considering low level control and stability effects. We present modified visibility graph local avoidance method and a spiral algorithm for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.