Three-dimensional optimal path planning for waypoint guidance of an autonomous underwater vehicle

2015 ◽  
Vol 67 ◽  
pp. 23-32 ◽  
Author(s):  
Mansour Ataei ◽  
Aghil Yousefi-Koma
2017 ◽  
Vol 133 ◽  
pp. 107-115 ◽  
Author(s):  
Ye Li ◽  
Teng Ma ◽  
Pengyun Chen ◽  
Yanqing Jiang ◽  
Rupeng Wang ◽  
...  

Author(s):  
Mansour Ataei ◽  
Aghil Yousefi-Koma ◽  
Masoud Shariat Panahi

In this paper an optimal 3-D path is generated offline for a Biomimetic Underwater Vehicle (BUV). The BUV swims forward by oscillating its body, turns by curving its body and dives by bending its head. The BUV is intended to systematically plan its path having only the initial and final points and the positions and dimensions of the obstacles. The four widely-accepted criteria of the optimal path planning of the BUV are “overall path length”, “margin of safety”, “smoothness of planar motion” and “gradient of dive”. In this study the multi-objective GA algorithm NSGA-II is employed to find a set of Pareto-optimal solutions where each solution represents a path that cannot be outrun by any other path considering all four criteria. The solution set, also called the Pareto front, gives the designer the freedom of choice when it comes to prioritizing various criteria.


2020 ◽  
Vol 152 ◽  
pp. 101644 ◽  
Author(s):  
Chinmay S. Kulkarni ◽  
Pierre F.J. Lermusiaux

2013 ◽  
Vol 328 ◽  
pp. 128-132
Author(s):  
Yan Peng ◽  
Wei Qing Wu ◽  
Mei Liu ◽  
Shao Rong Xie ◽  
Jun Luo

The path planning relates to the safe movement and navigation of the Autonomous Underwater Vehicles (AUV). This paper discusses the way of real-time path planning for autonomous underwater vehicle based on tracking control lyapunov function. The simulation conducted on H300 illustrates the effectiveness of proposed method.


2021 ◽  
pp. 1-15
Author(s):  
Zheping Yan ◽  
Jinzhong Zhang ◽  
Jia Zeng ◽  
Jialing Tang

In this paper, a water wave optimization (WWO) algorithm is proposed to solve the autonomous underwater vehicle (AUV) path planning problem to obtain an optimal or near-optimal path in the marine environment. Path planning is a prerequisite for the realization of submarine reconnaissance, surveillance, combat and other underwater tasks. The WWO algorithm based on shallow wave theory is a novel evolutionary algorithm that mimics wave motions containing propagation, refraction and breaking to obtain the global optimization solution. The WWO algorithm not only avoids jumps out of the local optimum and premature convergence but also has a faster convergence speed and higher calculation accuracy. To verify the effectiveness and feasibility, the WWO algorithm is applied to solve the randomly generated threat areas and generated fixed threat areas. Compared with other algorithms, the WWO algorithm can effectively balance exploration and exploitation to avoid threat areas and reach the intended target with minimum fuel costs. The experimental results demonstrate that the WWO algorithm has better optimization performance and is robust.


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