The Path Planning Research with Global Static and Local Dynamic of the AUV

  • Hongli Jia, Feng Du

Abstract

When the autonomous underwater vehicle (AUV) plans a path, there exist various problems, such as the difficulty in environmental modelling and the weak solution ability of algorithms facing global static environment, low autonomy and difficulties of path planning are exist in the process of obstacle avoidance planning in the face of local dynamic obstacles. To solve these problems, form concentric circles of path are used in polar coordinates, and a new path planning algorithm fusing global static and local dynamic which based on improved particle swarm optimization algorithm and velocity obstacle method is proposed under strict mobility constrains. In the environment model represented by polar coordinates, the optimal particle "mutation" process is introduced into the global static planning to enhance the algorithm's solving ability; in the process of local dynamic planning, the velocity obstacle method is used to solve the local collision range and safe path area to acquire the optimal obstacle avoidance path.

How to Cite
Hongli Jia, Feng Du. (1). The Path Planning Research with Global Static and Local Dynamic of the AUV. Forest Chemicals Review, 726-740. Retrieved from http://www.forestchemicalsreview.com/index.php/JFCR/article/view/389
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Articles