Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling

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	Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling
	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)
	2021-08-23
会议名称	2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
会议日期	2021-8-23
会议地点	2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
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.
七大方向——子方向分类	智能机器人
国重实验室规划方向分类	其他
是否有论文关联数据集需要存交	否
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/56554
专题	中科院工业视觉智能装备工程实验室_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.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Science
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],2021.

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