Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles

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...

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Bibliographic Details
Published in:Electronics (Basel) 2023-11, Vol.12 (22), p.4602
Main Author: Kot, Rafał
Format: Article
Language:English
Subjects:
Algorithms
Artificial intelligence
Autonomous underwater vehicles
Control systems
Deep learning
Genetic algorithms
Machine learning
Mathematical analysis
Mathematical optimization
Methods
Mission planning
Particle swarm optimization
Planning
Potential fields
Remote submersibles
Robotics
Segments
Shortest-path problems
Simulation
Surface vehicles
Tracking control
Trajectory control
Trajectory planning
Vehicles
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Summary: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.
ISSN:2079-9292
2079-9292
DOI:10.3390/electronics12224602