AUV Local Path Planning Based on Fusion of Improved DWA and RRT Algorithms

For the local path planning problem of autonomous underwater vehicle (AUV) in unknown complex obstacle environment, the traditional Dynamic Window Approach (DWA) algorithm has problems such as easy to fall into local stagnation in complex obstacles. A path planning algorithm based on the fusion of I...

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Bibliographic Details
Published inInternational Conference on Industrial Mechatronics and Automation (Online) pp. 935 - 941
Main Authors Li, Juan, Zhang, Zihao
Format Conference Proceeding
LanguageEnglish
Published IEEE 06.08.2023
Subjects
Autonomous Underwater Vehicle
dynamic window
evaluation function
fast extended random tree
Globalization
Heuristic algorithms
Mechatronics
Navigation
Path planning
Safety
Search problems
underwater environment
velocity space
Online AccessGet full text
ISSN2152-744X
DOI10.1109/ICMA57826.2023.10216263

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Summary:For the local path planning problem of autonomous underwater vehicle (AUV) in unknown complex obstacle environment, the traditional Dynamic Window Approach (DWA) algorithm has problems such as easy to fall into local stagnation in complex obstacles. A path planning algorithm based on the fusion of Improved DWA and Rapid-exploration Random Tree (RRT) algorithms is proposed. The improved DWA algorithm velocity space is generated according to the period of the whole dynamic window and resets the evaluation function; the improved RRT algorithm plans guide points in the local known space to help DWA out of the local stagnation state. The two algorithms are fused to achieve local path planning for AUV in unknown complex underwater environment. Simulation shows that this fusion algorithm can plan a safe and feasible navigation path for AUV in unknown complex obstacle environment.
ISSN:2152-744X
DOI:10.1109/ICMA57826.2023.10216263