Optimal real-time collision-free motion planning for autonomous underwater vehicles in a 3D underwater space

IET Control Theory and Applications

Volumn 3, Issue 6, 2009, Pages 712-721

  Yuan, H ^a   Qu, Z ^a  

^a University of Central Florida   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

3-D SPACE; 3D MOTION; ADJUSTABLE PARAMETERS; CLOSED FORM; COLLISION-FREE TRAJECTORY; COMPUTATIONAL EFFORT; KINEMATIC MODEL; OPTIMAL TRAJECTORIES; PERFORMANCE INDICES; REAL-TIME IMPLEMENTATIONS; TWO PARAMETER;

AUTONOMOUS UNDERWATER VEHICLES; COLLISION AVOIDANCE; KINEMATICS; MOTION PLANNING; NAVIGATION; OPTIMIZATION; REAL TIME CONTROL; SUBMERSIBLE MOTORS; SUBMERSIBLES; TRAJECTORIES; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

THREE DIMENSIONAL;

EID: 65949116367     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2008.0241     Document Type: Article

References (22)

1. Nakamura, Y., and Savant, S.: ' Nonlinear tracking control of autonomous underwater vehicles ', Proc. IEEE International Conference on Robotics and Automation, Nice, France, 1992, p. A4-A9
2. Arinaga, S., Nakajima, S., Okabe, H., Ono, A., and Kanayama, Y.: ' A motion planning method for an AUV ', Proc. Symposium on AUV Technology, Monterey, CA, USA, June, 1996, p. 477-484
3. Zhang, Q.: ' A hierarchical global path planning approach for AUV based on genetic algorithm ', Proc. IEEE International Conference on Mechatronics and Automation, Luoyang, China, June, 2006, p. 1745-1750 (Pubitemid 46604577)
4. Ding, F., Jiao, P., Bian, X., and Wang, H.: ' AUV local path planning based on virtual potential field ', Proc. IEEE International Conference on Mechatronics and Automation, Niagara Falls, Canada, July, 2006, p. 1711-1716
5. Barisic, M., Vukic, Z., and Miskovic, N.: ' Kinematic simulative analysis of virtual potential field method for AUV trajectory planning ', Proc. Mediterranean Conference on Control & Automation, Athens, Greece, July, 2007, p. 1-6
6. Valenciaga, F., Puleston, P., Calvo, O., and Acosta, G.: ' Trajectory tracking of the cormoran AUV based on a PI-MIMO approach ', (Oceans'07, Aberdeen Scotland, 2007, June), p. 1-6
7. Repoulilas, F., and Papadopoulos, E.: ' Three dimensional trajectory control of underactuated AUVs ', Proc. of the European Control Conference 2007, Kos, Greece, July, 2007, p. 3492-3499
8. Khatib, O.: ' Real-time obstacle avoidance for manipulators and mobile robots ', Int. J. Robot. Res., 1986, 5, (1), p. 90-98 0278-3649 (Pubitemid 16546612)
9. Warren, C.: ' A technique for autonomous underwater vehicle route planning ', IEEE Trans. Ocean. Eng., 1990, 15, (3), p. 199-204 (Pubitemid 20714350)
10. Hwang, Y., and Ahuja, N.: ' A potential field approach to path planning ', IEEE Trans. Robot. Autom., 1992, 8, (1), p. 23-32 1042-296X
11. Kyriakopoulos, K., Kakambouras, P., and Krikelis, N.: ' Potential fields for nonholonomic vehicles ', Proc. IEEE International Symposium on Intelligent Control, Monterey, CA, August, 1995, p. 461-465
12. Wang, Y., and Lane, D.: ' Subsea vehicle path planning using nonlinear programming and constructive solid geometry ', IEE Proc. Control Theory Appl., 1997, 144, (2), p. 143-152 1350-2379 (Pubitemid 127754538)
13. Chuang, J.: ' Potential-based modeling of three-dimensional workspace for obstacle avoidance ', IEEE Trans. Robot. Autom., 1998, 14, (5), p. 778-785 1042-296X (Pubitemid 128743556)
14. Breivik, M., and Fossen, T.: ' Principles of guidance-based path following in 2D and 3D ', Proc. 44th IEEE International Conference on Decision and Control, and the European Control Conference, Seville, Spain, December, 2005, p. 627-634 (Pubitemid 46297037)
15. Judd, B., and Mclain, W.: ' Spline based path planning for unmanned air vehicles ', AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, August, 2001, AIAA-2001-4238
16. Qu, Z., Wang, J., and Plaisted, C.: ' A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles ', IEEE Trans. Robot., 2004, 20, (6), p. 978-993 1552-3098
17. Yang, J., Daoui, A., Qu, Z., and Wang, J.: ' An optimal and real-time solution to parameterised mobile robot trajectories ', Proc. IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2005, p. 4412-4417
18. Fujimura, K.: ' A hierarchical strategy for path planning among moving obstacles ', IEEE Trans. Robot. Autom., 1989, 5, (1), p. 61-69 1042-296X
19. Herman, M.: ' Fast, three-dimensional, collision-free motion planning ', Proc. IEEE International Conference on Robotics and Automation, San Francisco, CA, April, 1986, p. 1056-1063 (Pubitemid 16616276)
20. Chung, C., and Saridis, G.: ' Path planning for an intelligent robot by the extended vgraph algorithm ', Proc. IEEE international Symposium on Intelligent Control, Albany, NY, September, 1989, p. 544-549 (Pubitemid 20664571)
21. Bortoff, S.: ' Path planning for UAVs ', Proc. 2000 American Control Conference, Chicago, IL, June, 2000, p. 364-368
22. Kitamura, Y., Tanaka, T., Kishino, F., and Yachida, M.: ' 3-D path planning in a dynamic environment using an octree and an artificial potential field ', IEEE International Conference on Intelligent Robots and Systems, Pittsburgh, USA, August, 1995, p. 474-481