Path planning is a vital component to realize the intelligent navigation system of the Autonomous Underwater Vehicle (AUV). In order to find an optimal path in the underwater environment, the slice model of the underwater topography and the multi-objective optimization model with multiple constraints of the path planning problem are proposed. The slice model is significant to reduce storage space and the influence of resolution. The optimization model considers the length of path, the energy consumption, and the smoothness in the vertical direction into objective function, and the constraints contain the terrain, the maximum yawing angle, and pitch angle. Based on these models, we propose a modified bacterial foraging algorithm with variable step length and simulated annealing mechanism. For the convenience of performing the simulation experiment, the virtual terrain described by superposing several Gauss functions with different parameters is designed to simulate the real underwater topography. The experiment results show that the proposed slice model, optimization model, and modified BFO algorithm are efficient to handle the complex underwater path planning problem.
A 3D AUV Path Planner Based on Modified Bacterial Foraging Algorithm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 315 ; 3211-3221
2022-03-18
11 pages
Article/Chapter (Book)
Electronic Resource
English