Title :
3D path planning for AUV based on circle searching
Author :
Zheping Yan ; Yufei Zhao ; Tao Chen ; Chao Deng
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
An approach of 3D path planning for AUV on the basis of virtual terrain and thread map is proposed. The virtual terrain is constructed to predigest the 3D search space, transforming the 3D path planning to 2D path planning. Then, the thread map is made for unification of hostile threat and terrain. To obtain standout expansibility, an improved A* algorithm based on circle searching is applied for path search. Simulation results illustrate the proposed approach is simple, and fast, and the path posed is safe for trail.
Keywords :
autonomous underwater vehicles; path planning; search problems; 2D path planning; 3D path planning; 3D search space; AUV; autonomous underwater vehicle; circle searching; improved A* algorithm; path search; standout expansibility; thread map; virtual terrain; Algorithm design and analysis; Educational institutions; Planning; Sonar; Trajectory; Vehicles; 3D path planning; AUV; circle searching; improved A∗; threats map;
Conference_Titel :
Oceans, 2012
Conference_Location :
Hampton Roads, VA
Print_ISBN :
978-1-4673-0829-8
DOI :
10.1109/OCEANS.2012.6404849
