AUV Path Planning Based on Improved RRT and Bezier Curve Optimization

Li, Juan; Yang, C. C. Shuo

doi:10.1109/icma49215.2020.9233842

Cited by 13 publications

(6 citation statements)

References 4 publications

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“…Remarks. For the purpose of this paper, to verify the feasibility of the proposed search scheme, the SDS algorithm is analyzed in comparison with the traditional RRT algorithm and the IRRT algorithm that was proposed in the literature [ 11 ]. Both the RRT algorithm and the SDS algorithm are comparable as they obtain new nodes by utilizing a node expansion strategy and find the final path after several explorations and expansions.…”

Section: Simulation Studiesmentioning

confidence: 99%

“…While the information for local path planning is not totally known, some environmental information must be collected in real time by sensors to determine the location of local obstacles and then to carry out path planning. Some typical algorithms are the Dynamic window approach (DWA) [ 7 ], Artificial potential field method (APF) [ 8 , 9 ], Rapidly exploring random tree algorithm (RRT) [ 10 , 11 ] and so on.…”

Section: Introductionmentioning

confidence: 99%

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Three-Dimensional Path Planning Based on Six-Direction Search Scheme

Li,

Tang

et al. 2024

Sensors

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In order to solve the problem of how to perform path planning for AUVs with multiple obstacles in a 3D underwater environment, this paper proposes a six-direction search scheme based on neural networks. In known environments with stationary obstacles, the obstacle energy is constructed based on a neural network and the path energy is introduced to avoid a too-long path being generated. Based on the weighted total energy of obstacle energy and path energy, a six-direction search scheme is designed here for path planning. To improve the efficiency of the six-direction search algorithm, two optimization methods are employed to reduce the number of iterations and total path search time. The first method involves adjusting the search step length dynamically, which helps to decrease the number of iterations needed for path planning. The second method involves reducing the number of path nodes, which can not only decrease the search time but also avoid premature convergence. By implementing these optimization methods, the performance of the six-direction search algorithm is enhanced in favor of path planning with multiple underwater obstacles reasonably. The simulation results validate the effectiveness and efficiency of the six-direction search scheme.

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Section: Simulation Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Path Planning Based on Six-Direction Search Scheme

Li,

Tang

et al. 2024

Sensors

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show abstract

“…Combined with the trajectory planner method [1][2][3] that controls a mobile robot to travel along the path, this technology can liberate robots from a fixed working position to complete more complex tasks and can improve the repeatability of robotic applications, which greatly enhances the robots' application scenarios. [4][5][6][7] Recently, this has been a trending research topic in robotics.…”

Section: Introductionmentioning

confidence: 99%

A multiobjective path-smoothing algorithm based on node adjustment and turn-smoothing

Cao

Zhang

et al. 2023

Measurement and Control

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Presently, mobile robots experience problems of time consumption, poor security, and high computational complexity in global path-smoothing algorithms. This study presents a multiobjective path-smoothing algorithm, including a path point adjustment algorithm and a turn-smoothing method called the point adjustment algorithm and smoothing. First, the proposed path point adjustment algorithm filters and moves the nodes in an original path to decrease the length of the path and increase the angle of the turns in the path. Second, the proposed turn-smoothing method inserts the B-spline curve into the processed path to smooth the discontinuous turns in the path. Subsequently, the positions of the control points are adjusted based on the property of the B-spline to ensure that the smoothed path can avoid obstacles and satisfy the maximum curvature constraint. Simulation results show that the proposed algorithm can quickly calculate the path satisfying the robot dynamic constraints in various environments combined with different global path planning algorithms. Compared with other mainstream path-smoothing algorithms, this algorithm makes a substantial improvement in path length.

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“…The optimising variant of RRT is named the RRT* [16]. The RRT and its variations are widely adopted for optimal path planning, including AUVs (Autonomous Underwater Vessels) [17][18][19][20][21][22], as they are relatively simple, fast and flexible. Zaccone and Martelli [23] presented in detail an RRT*-based approach to ship path planning for collision avoidance purposes, focusing on the offline, standalone behaviour of the algorithm, discussing the tuning of the optimisation parameters to obtain the best evasive manoeuvres in the presence of one or more obstacles.…”

Section: Introductionmentioning

confidence: 99%

COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

Zaccone

2021

JMSE

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While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

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AUV Path Planning Based on Improved RRT and Bezier Curve Optimization

Cited by 13 publications

References 4 publications

Three-Dimensional Path Planning Based on Six-Direction Search Scheme

Three-Dimensional Path Planning Based on Six-Direction Search Scheme

A multiobjective path-smoothing algorithm based on node adjustment and turn-smoothing

COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

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