Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space

Subramanian, Sevgan; Thondiyath, Asokan

doi:10.1007/s11370-013-0138-2

Cited by 63 publications

(31 citation statements)

References 17 publications

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“…So they are suitable for real-time path planning. Common potential field methods use force to find shortest path, but they must endure local optimum [20]. Learning from the concept of fluid dynamic, stream function establishes a potential field which can avoid local minima [21], and it is also extended to three-dimensional space [22].…”

Section: Introductionmentioning

confidence: 99%

A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

Xiao

Meng

et al. 2018

Intel Serv Robotics

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This paper presents a geometrical path planning method, and it can help unmanned aerial vehicle to find a collision-free path in two-dimensional and three-dimensional (2D and 3D) complex environment quickly. First, a list of tree is designed to describe obstacles, and it is used to query the obstacles which block the line from starting point to finishing point (blocking obstacle). Specially, the list also stores the edge information of blocking obstacle. For the obstacles with short distance, a reasonable way to fly over is studied. Then, a shortest path planning method based on geometrical computation is proposed according to different shapes of obstacles. The obstacles are convex and divided into two cases of 2D and 3D. 2D environment includes rectangular obstacle, trapezoidal obstacle, triangular obstacle, circular obstacle and elliptic obstacle. In 3D, it includes cuboid, sphere and ellipsoid. To compare with other methods, the simulation is made in different environments. In 2D environment with circular obstacles, the method is similar to the artificial potential field. In 2D environment with rectangular obstacles, the performance of the proposed method is better than A-star. Compared with genetic algorithm, the proposed method gives a better result in 3D environment with cuboid obstacles. In 3D environment with hybrid obstacles, it is similar to interfered fluid dynamical system. Through comprehensive comparison and analysis, the conclusion is that the method has good adaptability and does not require grid modeling. It can find a shorter path in 2D/3D complex environment within a short time, so it has the ability of real-time path planning. Keywords Unmanned aerial vehicle (UAV) • Path planning • Geometrical shortest path • 2D/3D complex environment • Convex obstacles • Optimal and real-time planning B Xiao Liang

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Section: Introductionmentioning

confidence: 99%

A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

Xiao

Meng

et al. 2018

Intel Serv Robotics

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“…The common collision avoidance methods include artificial aperture method (APF) [ 7 , 8 , 9 ], dynamic window method (DWA) [ 10 ] and behavior method [ 11 ]. They have strong adaptability to local environments and rely on limited sensor information to avoid collisions and have high efficiency.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

Zhang

Wei

Teng

et al. 2017

Sensors

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In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment.

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“…Meanwhile, methods based on potential field are utilized to meet the real-time requirements of path re-planning. Artificial potential field (APF) method [10] has the advantages of simple principle and small amount of computation. Yet local minimum exists when the vehicle enters into a concave area.…”

Section: Introductionmentioning

confidence: 99%

UAV Autonomous Collision Avoidance Method Based on Three-dimensional Dynamic Collision Region Model and Interfered Fluid Dynamical System

Liu¹,

Wang²,

Yao³

2017

dtetr

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Abstract. Aiming at the problem of 3D collision avoidance for unmanned aerial vehicle (UAV), this paper proposed a UAV collision detection, collision decision and path re-planning method. Firstly, traditional methods calculate collision regions using certain threshold value of distance or time. In order to improve the shortcoming of existing methods, this paper considered maneuver information of both UAV and aerial intruder. Models of three-dimensional collision regions were presented. The proposed regions models could be used for UAV to successfully detect collision and make an appropriate collision decision. Secondly, a collision decision method based on the proposed regions and interfered fluid dynamical (IFDS) algorithm was present. UAV autonomously made collision decision by using the proposed regions models, and chose an appropriate maneuverer mode to avoid collision. Then the IFDS algorithm was applied to re-plan UAV's flight path. Finally, the simulation results demonstrate the effectiveness of the presented method.

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Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space

Cited by 63 publications

References 17 publications

A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

UAV Autonomous Collision Avoidance Method Based on Three-dimensional Dynamic Collision Region Model and Interfered Fluid Dynamical System

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