Efficient 3D homing path planning for AUV docking
文献类型：会议论文
| 作者 | Shi K(石凯)1,3,4 ; Wang XH(王晓辉)3,4; Wang YQ(王轶群)1,3,4; Ma XO(马小鸥)2
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| 出版日期 | 2020 |
| 会议日期 | October 16-18, 2021 |
| 会议地点 | Zhanjiang, China |
| 关键词 | path planning AUV homing path RRT* Dubins curve |
| 页码 | 353-358 |
| 英文摘要 | This study explores a 3D homing path planning method for AUV docking. Using the improved RRT∗ algorithm, the obstacle-free 3D path for AUV homing to docking station is generated. By using the 3D Dubins curve to improve the local planner and cost evaluation function of the RRT∗ algorithm, we propose a method to obtain the homing path satisfying the terminal constraints and kinematic constraints with a smaller calculation cost. In addition, greedy method is used to improve the efficiency of the algorithm. Path pruning is used to remove unnecessary way points to obtain a more concise path. Two numerical examples are presented to illustrate the effectiveness of the proposed method. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2020 35th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-7684-0 |
| WOS记录号 | WOS:000659281900063 |
| 源URL | [http://ir.sia.cn/handle/173321/28380]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Shi K(石凯) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Liaoning Science and Technology Museum, Shenyang 110167, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Shi K,Wang XH,Wang YQ,et al. Efficient 3D homing path planning for AUV docking[C]. 见:. Zhanjiang, China. October 16-18, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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