scholarly journals Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

Sensors ◽  
2017 ◽  
Vol 17 (7) ◽  
pp. 1607 ◽  
Author(s):  
Wenyu Cai ◽  
Meiyan Zhang ◽  
Yahong Zheng
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicles ◽  
Task Assignment ◽  
Underwater Vehicles ◽  
Dubins Curves

An Algorithm of Complete Coverage Path Planning for Autonomous Underwater Vehicles

2011 ◽  
Vol 467-469 ◽  
pp. 1377-1385 ◽  
Author(s):  
Ming Zhong Yan ◽  
Da Qi Zhu
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Simulation Studies ◽  
Complete Coverage ◽  
Biologically Inspired ◽  
Coverage Path Planning ◽  
Underwater Environment ◽  
Global Cost

Complete coverage path planning (CCPP) is an essential issue for Autonomous Underwater Vehicles’ (AUV) tasks, such as submarine search operations and complete coverage ocean explorations. A CCPP approach based on biologically inspired neural network is proposed for AUVs in the context of completely unknown environment. The AUV path is autonomously planned without any prior knowledge of the time-varying workspace, without explicitly optimizing any global cost functions, and without any learning procedures. The simulation studies show that the proposed approaches are capable of planning more reasonable collision-free complete coverage paths in unknown underwater environment.

scholarly journals Path Planning Technologies for Autonomous Underwater Vehicles-A Review

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 9745-9768 ◽  
Author(s):  
Daoliang Li ◽  
Peng Wang ◽  
Ling Du
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles

A Novel Classified Self-Organising Map Applied to Task Assignment

2020 ◽  
Vol 73 (5) ◽  
pp. 1129-1145
Author(s):  
Yun Qu ◽  
Daqi Zhu
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Task Assignment ◽  
Underwater Vehicles ◽  
The Self ◽  
Sensor Nodes ◽  
Sensor Technology ◽  
The Novel ◽  
Total Energy Consumption ◽  
Map Algorithm ◽  
Self Organising Map

With the development of sensor technology, sensor nodes are increasingly being used in underwater environments. The strategy presented in this paper is designed to solve the problem of using a limited number of autonomous underwater vehicles (AUVs) to complete tasks such as data collection from sensor nodes when the number of AUVs is less than the number of target sensors. A novel classified self-organising map algorithm is proposed to solve the problem. First, according to the K-means algorithm, targets are classified into groups that are determined by the number of AUVs. Second, according to the self-organising map algorithm, AUVs are matched with groups. Third, each AUV is provided with the accessible order of the targets in the group. The novel classified self-organising map algorithm can be used not only to reduce the total energy consumption in a multi-AUV system, but also to give the most efficient accessible order of targets for AUVs. Results of simulations conducted to prove the applicability of the algorithm are given.

scholarly journals An evaluation of path-planning methods for autonomous underwater vehicle based on terrain-aided navigation

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985318
Author(s):  
Zheng Cong ◽  
Ye Li ◽  
Yanqing Jiang ◽  
Teng Ma ◽  
Yusen Gong ◽  
...  
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Positioning Accuracy ◽  
Planning Methods ◽  
Planning Algorithms ◽  
Motion Characteristics

This article presents a comparison of different path-planning algorithms for autonomous underwater vehicles using terrain-aided navigation. Four different path-planning methods are discussed: the genetic algorithm, the A* algorithm, the rapidly exploring random tree* algorithm, and the ant colony algorithm. The goal of this article is to compare the four methods to determine how to obtain better positioning accuracy when using terrain-aided navigation as a means of navigation. Each algorithm combines terrain complexity to comprehensively consider the motion characteristics of the autonomous underwater vehicles, giving reachable path between the start and end points. Terrain-aided navigation overcomes the challenges of underwater domain, such as visual distortion and radio frequency signal attenuation, which make landmark-based localization infeasible. The path-planning algorithms improve the terrain-aided navigation positioning accuracy by considering terrain complexity. To evaluate the four algorithms, we designed simulation experiments that use real-word seabed bathymetry data. The results of autonomous underwater vehicle navigation by terrain-aided navigation in these four cases are obtained and analyzed.

scholarly journals Risk-aware Path Planning for Autonomous Underwater Vehicles using Predictive Ocean Models

2013 ◽  
Vol 30 (5) ◽  
pp. 741-762 ◽  
Author(s):  
Arvind A. Pereira ◽  
Jonathan Binney ◽  
Geoffrey A. Hollinger ◽  
Gaurav S. Sukhatme
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Ocean Models
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