Path planning method for unmanned underwater vehicles eliminating effect of currents based on artificial potential field
To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives...
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| Published in | Journal of navigation Vol. 74; no. 5; pp. 955 - 967 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Cambridge, UK
Cambridge University Press
01.09.2021
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0373-4633 1469-7785 |
| DOI | 10.1017/S0373463321000345 |
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| Abstract | To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives the shortest path and avoids collision accidents; and an adjusting function that eliminates the effect of ocean currents. The planning results of the intelligent algorithm are presented in detail, and compared with the conventional algorithm that does not consider the effect of currents. The effectiveness of the optimised path planning method given in this paper is proved. |
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| AbstractList | To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives the shortest path and avoids collision accidents; and an adjusting function that eliminates the effect of ocean currents. The planning results of the intelligent algorithm are presented in detail, and compared with the conventional algorithm that does not consider the effect of currents. The effectiveness of the optimised path planning method given in this paper is proved. |
| Author | Yang, Simon X. Zhu, Danjie |
| Author_xml | – sequence: 1 givenname: Danjie surname: Zhu fullname: Zhu, Danjie email: danjie@uoguelph.ca organization: Laboratory of Advanced Robotics and Intelligent System (ARIS), School of Engineering, University of Guelph, Guelph, ON, Canada N1G2W1 – sequence: 2 givenname: Simon X. surname: Yang fullname: Yang, Simon X. organization: Laboratory of Advanced Robotics and Intelligent System (ARIS), School of Engineering, University of Guelph, Guelph, ON, Canada N1G2W1 |
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| CitedBy_id | crossref_primary_10_3390_s24072178 crossref_primary_10_3390_jmse12122147 crossref_primary_10_1016_j_apor_2024_104052 crossref_primary_10_1109_ACCESS_2023_3326754 crossref_primary_10_3390_jmse10111695 crossref_primary_10_1016_j_mechmachtheory_2023_105406 crossref_primary_10_1017_S0373463322000091 crossref_primary_10_3390_jmse12030477 crossref_primary_10_1016_j_oceaneng_2022_112525 crossref_primary_10_1109_LRA_2024_3349924 |
| Cites_doi | 10.1109/TVT.2020.2991983 10.1109/ACCESS.2018.2888617 10.1016/j.apor.2012.06.002 10.1109/TSSC.1968.300136 10.1007/s10846-019-01146-3 10.1177/027836498600500106 10.1016/j.oceaneng.2018.09.016 10.1017/S0373463318000140 10.1017/S0373463317000728 10.23919/ChiCC.2019.8866533 10.1007/978-3-030-27526-6_19 10.1109/TITS.2015.2435016 10.1049/iet-its.2018.5388 10.1016/j.ijleo.2017.12.169 10.1007/s11633-019-1204-9 10.23919/ICINS43215.2020.9134006 10.1016/j.proeng.2015.06.017 10.1017/S0373463318000668 |
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| SubjectTerms | Algorithms Autonomous underwater vehicles Collision avoidance Design Ocean currents Path planning Potential fields Simulation Underwater vehicles Unmanned underwater vehicles Vehicles |
| Title | Path planning method for unmanned underwater vehicles eliminating effect of currents based on artificial potential field |
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