Energy optimised D* AUV path planning with obstacle avoidance and ocean current environment

Sun, Bing; Zhang, Wei; Li, Shiqi; Zhu, Xinlei

doi:10.1017/s0373463322000091

Cited by 19 publications

(5 citation statements)

References 23 publications

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“…Finally, in the later stage of the navigation, as shown in Figure 4e, with the improvement at time T = 80, compared with the other three algorithms, the paths generated by the improved SSA and the SSA can still make better use of the ocean current for navigation and reduce the navigation cost. Considering comprehensive AUV navigation at different moments, from the energy consumption constraint Equation (7), it can be seen that the improved SSA can use the ocean current navigation in the main navigation phase, and the navigation distance is shorter than that of other algorithms, so the energy consumption constraint is also smaller.…”

Section: Comparison Of Simulation Results In Offshore Sea Scenariosmentioning

confidence: 99%

“…There are many commonly used global path planning methods in AUV path planning, including traditional and intelligent path planning. The traditional AUV path planning methods include the A* algorithm [6], D* algorithm [7] and artificial potential field method [8], etc. The intelligent AUV path planning methods include the particle swarm algorithm [9], ant colony algorithm [10], genetic algorithm [11] and path planning method based on machine learning [12], etc.…”

Section: Introductionmentioning

confidence: 99%

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Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

Mao

Yin

et al. 2022

JMSE

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Autonomous underwater vehicle (AUV) path planning in complex marine environments meets many chanllenges, such as many influencing factors, complex models and the performance of the optimization algorithm to be improved. To find a path with minimum cost of the actual environmental threats, navigation height changes and the minimum energy consumption of the AUV, an improved sparrow search algorithm is designed under the impact of the time-varying characteristics of the current in the complex marine environment on the AUV and the physical constraints of the AUV movement. In the proposed algorithm, an adaptive weight factor balance strategy is introduced into the position update of the discoverer to improve the convergence speed and search ability. In the follower position, the variable spiral search strategy is improved based on the position update formula to enhance the local jumping ability of the algorithm. After the position update, Levy flying strategy is added, and Cauchy–Gaussian mutation is performed on the optimal individual to increase the population diversity, which improves the anti-stagnation ability of the algorithm. Finally, the AUV global path with minimum cost in the sense of multi-objective weighting is obtained. The simulation results show that the proposed algorithm can plan a path with less cost and quickly converge to an optimized point, and finally it can meet the global path planning requirements of AUV when navigating in complex sea areas.

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Section: Comparison Of Simulation Results In Offshore Sea Scenariosmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

Mao

Yin

et al. 2022

JMSE

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show abstract

“…Popular global path-planning methods include graph search, random sampling, intelligent bionics, and combinatorial optimization [16]. Graph search algorithms mainly comprise the Dijkstra algorithm [17], the A* algorithm [18], and the D* algorithm [19].…”

Section: Global Path-planning Methodsmentioning

confidence: 99%

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

Yang,

Pan,

Wei

et al. 2024

JMSE

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Ocean currents make it difficult for unmanned surface vehicles (USVs) to keep a safe distance from obstacles. Effective path planning should adequately consider the effect of ocean currents on USVs. This paper proposes an improved A* algorithm based on an artificial potential field (APF) for USV path planning in a current environment. There are three main improvements to the A* algorithm. Firstly, the proposed algorithm ignores unnecessary perilous nodes to decrease calculation. Secondly, an adaptive guidance angle is developed to guide the search in the most appropriate direction to reduce the computing time. Thirdly, the potential field force function is introduced into the cost function to ensure that the path designed for the USV always maintains a safe distance from obstacles under the influence of ocean currents. Furthermore, the Bezier curve is adapted to smooth the path. The experimental results show that the USV path-planning algorithm proposed in this paper, which synthesizes the APF and A* algorithms, runs 22.5% faster on average than the traditional A* algorithm. Additionally, the path developed by the proposed A* algorithm effectively keeps appropriate and different distances from obstacles by considering different ocean currents.

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“…Berdasarkan tabel data pengelompokan trend penelitian diketahui bahwa topik dengan trend tertinggi yaitu pemanfaatan [2]- [19] dan pemodelan energi gelombang laut [20]- [33], diikuti dengan topik peralatan [34]- [37], perkembangan [1], [38], potensi [39], [40] dan masing-masing dengan 1 artikel dalam kurun waktu 15 tahun terkait, laju desipasi [41], peta [42], total energi [43]…”

Section: Hasil Dan Pembahasan Pertanyaanunclassified

Systematic Literature Review of Ocean Wave Renewable Energy

Nuryadi,

Yendri Sudiar,

Hamdi

2023

jccs

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Renewable energy is a concern to overcome the limitations of fossil energy, one type of renewable energy is ocean wave energy. There are various research topics related to the development of ocean wave energy potential carried out by countries in the world, for this reason the authors conducted a review related to journal papers that discuss ocean wave renewable energy. The method for this study used a Systematic Literature Review (SLR) on journal papers published from 2008-2023, a total of 44 journal papers. The three research questions contained in this study so as to obtain research results that the most countries that carry out research related to ocean wave renewable energy are China. There are a total of nine topics discussed related to ocean wave renewable energy with the most frequently discussed topic trends related to the utilization and modeling of ocean wave renewable energy.

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Energy optimised D* AUV path planning with obstacle avoidance and ocean current environment

Cited by 19 publications

References 23 publications

Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

Systematic Literature Review of Ocean Wave Renewable Energy

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