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Hierarchical dynamic trajectory planning for autonomous underwater vehicles: Algorithms and experiments

文献类型：期刊论文

作者Liu, Guoshun3,4; Zheng, Huarong1,2; Liu, Shuo1,2; Shen, Binjian3,4; Xu, Wen2,4
刊名OCEAN ENGINEERING
出版日期2024-09-01
卷号307页码:12
关键词Autonomous underwater vehicles Dynamic trajectory planning Receding horizon planning Obstacle avoidance IDVD method
ISSN号0029-8018
DOI10.1016/j.oceaneng.2024.118221
英文摘要Since Autonomous Underwater Vehicles (AUVs) generally have the limited sensing range and endurance, dynamic real-time trajectory planning is essential in the complex marine environment. In this paper, we propose a dynamic trajectory planning method for AUVs in a hierarchical and receding horizon way. Hierarchically, trajectory optimizations are conducted sequentially to maintain the high computational efficiency. Within each planning horizon, a safe global path is first searched for and the path is then optimized over a short horizon within the limited sensing range. Particularly, for the global path search, the hybrid A* algorithm is employed to find a collision -free path while considering the kinematic constraints of the AUV. To enhance the smoothness and safety of the path, a nonlinear optimization problem is further solved to refine the path over the short horizon. To further guarantee the feasibility of the planned path for the AUV, the inverse dynamics in the virtual domain (IDVD) method is proposed to perform a joint spatio-temporal optimization to obtain the feasible AUV velocity and acceleration trajectories. To validate the proposed trajectory planning method, both simulations and experiments with a newly developed flat disk -shaped AUV, Stingray II, are conducted. It is demonstrated that the proposed method is capable of efficient online trajectory planning in unknown and complex environments for AUVs.
资助项目National Major Scientific Instruments and Equipment Development Project of National Natural Science Foundation of China[42227901] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDA22040202] ; Hainan Provincial Natural Science Foundation[522QN336] ; The Pioneer and Leading Goose R&D Program of Zhejiang[2022C03041] ; The Pioneer and Leading Goose R&D Program of Zhejiang[2023C03124]
WOS研究方向Engineering ; Oceanography
语种英语
WOS记录号WOS:001246293500001
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构National Major Scientific Instruments and Equipment Development Project of National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Hainan Provincial Natural Science Foundation ; The Pioneer and Leading Goose R&D Program of Zhejiang
源URL[http://ir.idsse.ac.cn/handle/183446/11557]  
专题研究生部
深海工程技术部_深海信息技术研究室
通讯作者Zheng, Huarong
作者单位1.Hainan Inst Zhejiang Univ, Sanya, Peoples R China
2.Zhejiang Univ, Ocean Coll, Zhoushan, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
4.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Guoshun,Zheng, Huarong,Liu, Shuo,et al. Hierarchical dynamic trajectory planning for autonomous underwater vehicles: Algorithms and experiments[J]. OCEAN ENGINEERING,2024,307:12.
APA Liu, Guoshun,Zheng, Huarong,Liu, Shuo,Shen, Binjian,&Xu, Wen.(2024).Hierarchical dynamic trajectory planning for autonomous underwater vehicles: Algorithms and experiments.OCEAN ENGINEERING,307,12.
MLA Liu, Guoshun,et al."Hierarchical dynamic trajectory planning for autonomous underwater vehicles: Algorithms and experiments".OCEAN ENGINEERING 307(2024):12.

入库方式： OAI收割

来源：深海科学与工程研究所

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