scholarly journals Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Oren Gal
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Visibility Graph ◽  
Vehicle Navigation ◽  
Level Control ◽  
Dynamic Constraints ◽  
Low Level

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.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

2018 ◽  
Vol 212 (1) ◽  
pp. 105-123
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Final Report ◽  
Level Control ◽  
Low Level

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

Real-time path planning and obstacle avoidance for RAIS: an autonomous underwater vehicle

2001 ◽  
Vol 26 (2) ◽  
pp. 216-227 ◽  
Author(s):  
G. Antonelli ◽  
S. Chiaverini ◽  
R. Finotello ◽  
R. Schiavon
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Time Path

Low-level control technology of micro autonomous underwater vehicle based on intelligent computing

2018 ◽  
Vol 22 (S4) ◽  
pp. 8569-8580 ◽  
Author(s):  
Lanyong Zhang ◽  
Lei Zhang ◽  
Sheng Liu ◽  
Jiajia Zhou ◽  
Christos Papavassiliou
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Technology ◽  
Level Control ◽  
Intelligent Computing ◽  
Low Level
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