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Path planning method for unmanned underwater vehicles eliminating effect of currents based on artificial potential field

Published online by Cambridge University Press:  14 April 2021

Danjie Zhu  and
Simon X. Yang
Danjie Zhu*
Affiliation:
Laboratory of Advanced Robotics and Intelligent System (ARIS), School of Engineering, University of Guelph, Guelph, ON, CanadaN1G2W1
Simon X. Yang
Affiliation:
Laboratory of Advanced Robotics and Intelligent System (ARIS), School of Engineering, University of Guelph, Guelph, ON, CanadaN1G2W1
*
*Corresponding author. E-mail: [email protected]
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Abstract

To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives the shortest path and avoids collision accidents; and an adjusting function that eliminates the effect of ocean currents. The planning results of the intelligent algorithm are presented in detail, and compared with the conventional algorithm that does not consider the effect of currents. The effectiveness of the optimised path planning method given in this paper is proved.

Keywords

artificial potential fieldcurrents effectoptimal path planningunmanned underwater vehicles
Type
Research Article
Information
The Journal of Navigation , Volume 74 , Issue 5 , September 2021 , pp. 955 - 967
Copyright
Copyright © The Author(s), 2021. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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