1. bookVolume 31 (2021): Issue 2 (June 2021)
Journal Details
License
Format
Journal
First Published
05 Apr 2007
Publication timeframe
4 times per year
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English
access type Open Access

Path planning for an autonomous underwater vehicle in a cluttered underwater environment based on the heat method

Published Online: 08 Jul 2021
Page range: 289 - 301
Received: 14 Jul 2020
Accepted: 03 Dec 2020
Journal Details
License
Format
Journal
First Published
05 Apr 2007
Publication timeframe
4 times per year
Languages
English
Abstract

This paper proposes a novel autonomous underwater vehicle path planning algorithm in a cluttered underwater environment based on the heat method. The algorithm calculates the isotropic and anisotropic geodesic distances by adding the direction and magnitude of the currents to the heat method, which is named the anisotropy-based heat method. Taking account of the relevant influence of the environment on the cost functions, such as currents, obstacles and turn of the vehicle, an efficient collision-free and energy-optimized path solution can be obtained. Simulation results show that the anisotropy-based heat method is able to find a good trajectory in both static and dynamic clutter fields (including uncertain obstacles and changing currents). Compared with the fast marching (FM) algorithm, the anisotropy-based heat method is not only robust, flexible, and simple to implement, but it also greatly saves time consumption and memory footprint in a time-variant environment. Finally, the evaluation criteria of paths are proposed in terms of length, arrival time, energy consumption, and smoothness.

Keywords

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