NDLI: Path planning for autonomous underwater vehicle in time-varying current

Content Provider	IET Digital Library
Author	Cao, Xiang Sun, Chang yin Chen, Ming zhi
Abstract	Due to the complexity of underwater environment, the navigation of autonomous underwater vehicle (AUV) is affected by current. Although some traditional methods can plan the non-collision path for AUV to reach the destination, it cannot overcome the influence of current on AUV navigation. In order to solve this problem, a velocity vector synthesis method combining belief function (BF) method is proposed. Among them, the BF method is used to dynamically plan the non-collision path. The velocity vector synthesis method is used to adjust the AUVs movement direction to offset the effect of time-varying current. The simulation results show that the proposed algorithm is effective and can overcome the problem of ‘current influence’. At the same time, compared with other methods, the proposed algorithm can guide AUV to achieve more efficient and adaptive path planning.
Starting Page	1265
Ending Page	1271
Page Count	7
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 8, Aug (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5388
Journal	IET Intelligent Transport Systems
Publisher Date	2019-04-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Path Planning Autonomous Underwater Vehicle AUV Movement Direction AUV Navigation Belief Function Method BF Method Collision Avoidance Marine System Control Mobile Robots Noncollision Path Remotely Operated Vehicle Spatial Variables Control Telerobotics Time-varying System Trajectory Control Underwater Environment Velocity Vector Synthesis Method
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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