Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling
文献类型：会议论文
| 作者 | Wang KH(王凯辉) ; SU Hu(苏虎); Zou Wei(邹伟); Ma HX(马洪轩); Zhang Chi(张弛); Wang Zhiqing(王智清)
|
| 出版日期 | 2021-08-23 |
| 会议日期 | 2021-8-23 |
| 会议地点 | 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) |
| 英文摘要 | The paper focuses on the problem of 3D path
planning for the underwater vehicle in an environment with
obstacles. An efficient framework is presented where environ
ment modelling and path planning are effectively performed
to obtain a optimized feasible path. Firstly, octree is adopted
to divide the spatial environment into grids non-uniformly.
Hierarchical distances between adjacent grids in the tree are
deduced and are then used to determine grid adjacent rela
tionship. The environment modelling method would be helpful
not only to reduce memory consumption but also to improve
computational efficiency while maintaining modeling accuracy.
Consequently, an improved heuristic search strategy is proposed
by considering the features of underwater vehicle to obtain
more feasible intermediate path points. Once all intermediate
points are determined, they are globally optimized with a
correction strategy and then, a cubic bezier curve is adopted
to smooth the points. The resulting path satisfies nonholonomic
constraints and makes the vehicle avoid obstacles autonomously.
The proposed approach is tested on simulation and realistic
underwater terrain scenes, proven to be efficient to generate
feasible 3D trajectories with high real-time performance. The
approach has important application value in the guidance of
underwater vehicle. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/56554]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Zou Wei(邹伟) |
| 作者单位 | 1.University of Chinese Academy of Science 2.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Wang KH,SU Hu,Zou Wei,et al. Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling[C]. 见:. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). 2021-8-23. |
入库方式： OAI收割
来源：自动化研究所
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