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

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...

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Bibliographic Details
Published in:International journal of applied mathematics and computer science 2021-06, Vol.31 (2), p.289-301
Main Authors: Sun, Kaiyue, Liu, Xiangyang
Format: Article
Language:English
Subjects:
Algorithms
Anisotropy
autonomous underwater vehicle
Autonomous underwater vehicles
Barriers
Clutter
Collision avoidance
Cost function
Energy consumption
heat diffusion
heat method
path planning
Smoothness
Trajectory planning
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Summary: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.
ISSN:1641-876X
2083-8492
DOI:10.34768/amcs-2021-0020