Optimal Path Planning Algorithm of AUV State Space Sampling Based on Improved Cost Function

Liu, Yizhuo; Liu, Liqiang; Yu, Xiaohang; Chenyu, Wang

doi:10.23919/ccc50068.2020.9188963

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…The most common solution to this problem is to add a random coefficient to reduce the local minimum's impact or add an additional intermediate target [15], [16]. Another extension of this algorithm is the addition of a specific distance of repulsive force influence [17], APF with modified cost function [18] and multi-point APF algorithm [19]. Realworld application in AUV was described in [20].…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

Kot,

Szymak,

Piskur

et al. 2024

IEEE Access

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This article presents an extensive comparison of collision avoidance systems with local path planning based on a mathematical model of an autonomous underwater vehicle (AUV) controlled by the trajectory tracking control system. In the study, six methods such as improved artificial potential field (APF), D* algorithm, dynamic course adjustment (DCA), genetic algorithm (GA), particle swarm optimization (PSO) and rapidly-exploring random tree (RRT) were tested, the efficiency of which was verified on 10 test maps with various types of obstacles' configurations and shapes with taking into account real-time decision-making ability. Both obstacle detection system and collision avoidance systems were extensively fine-tuned to achieve a compromise between collision avoidance efficiency and minimization of computation time. Based on the prepared simulation framework and environment, the trajectory completion percentage, average trajectory deviation, trajectory energy consumption, computation time and percentage of collision trials were assessed. The best results in terms of AUV safety were achieved by the D* and DCA methods. Slightly worse results were obtained by GA and PSO. Considering real-time decision-making ability, the best results were obtained by DCA and APF methods. Based on a detailed analysis of the results, it can be concluded that the DCA method can be used in quick-react emergency systems, and D*, GA and PSO methods are reasonable to use in medium-range local collision avoidance systems.

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Section: Introductionmentioning

confidence: 99%

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

Kot,

Szymak,

Piskur

et al. 2024

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In the study [10], improved APF with a specific distance of repulsive force influence was proposed. In [11] an improved cost function was proposed for the APF path planning method. The method is easy to implement, but the disadvantage of this method is the possibility of getting stuck in a local minimum and looping the algorithm.…”

Section: Introductionmentioning

confidence: 99%

Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles

Kot

2023

Electronics

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The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This article presents a global trajectory planning system based on a multimodal approach. The trajectory of the vehicle’s movement has been divided into segments between introduced waypoints and calculated in parallel by advanced path planning methods: modified A* method, artificial potential field (APF), genetic algorithm (GA), particle swarm optimisation (PSO), and rapidly-exploring random tree (RRT). The shortest paths in each planned segment are selected and combined to give the resulting trajectory. A comparison of the results obtained by the proposed approach with the path calculated by each method individually confirms the increase in the system’s effectiveness by ensuring a shorter trajectory and improving the system’s reliability. Expressing the final trajectory in the form of geographical coordinates with a specific arrival time allows the implementation of calculation results in mission planning for autonomous underwater vehicles used commercially and in the military, as well as for autonomous surface vehicles (ASVs) equipped with trajectory tracking control systems.

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Review of Collision Avoidance and Path Planning Algorithms Used in Autonomous Underwater Vehicles

Kot

2022

Electronics

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The rapid technological development of computing power and system operations today allows for increasingly advanced algorithm implementation, as well as path planning in real time. The objective of this article is to provide a structured review of simulations and practical implementations of collision-avoidance and path-planning algorithms in autonomous underwater vehicles (AUVs). The novelty of the review paper is to consider not only the results of numerical research but also the newest results of verifying collision-avoidance and path-planning algorithms in real applications together with a comparison of the difficulties encountered during simulations and their practical implementation. Analysing the last 20 years of AUV development, it can be seen that experiments in a real environment are dominated by classical methods. In the case of simulation studies, artificial intelligence (AI) methods are used as often as classical methods. In simulation studies, the APF approach is most often used among classical methods, whereas among AI algorithms reinforcement learning and fuzzy logic methods are used. For real applications, the most used approach is reactive behaviors, and AI algorithms are rarely used in real implementations. Finally, this article provides a general summary, future works, and a discussion of the limitations that inhibit the further development in this field.

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Optimal Path Planning Algorithm of AUV State Space Sampling Based on Improved Cost Function

Cited by 3 publications

References 8 publications

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles

Review of Collision Avoidance and Path Planning Algorithms Used in Autonomous Underwater Vehicles

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