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.
Path planning for autonomous underwater vehicle in time‐varying current
IET Intelligent Transport Systems ; 13 , 8 ; 1265-1271
2019-08-01
7 pages
Article (Journal)
Electronic Resource
English
belief function method , autonomous underwater vehicle , mobile robots , adaptive path planning , time‐varying system , AUV movement direction , underwater environment , collision avoidance , velocity vector synthesis method , autonomous underwater vehicles , BF method , noncollision path , trajectory control , remotely operated vehicles , AUV navigation