AUV 3D Path Planning Based on A Algorithm

Aiming at the problem of global static path planning in the submarine terrain environment of autonomous underwater vehicle(AUV),A three-dimensional environment model was built based on gridmethod, and Dijsktra algorithm and A* algorithm were used to realize three-dimensional path search. The simulat...

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Bibliographic Details
Published inChinese Automation Congress (Online) pp. 11 - 16
Main Authors Li, Mengchuan, Zhang, Huajun
Format Conference Proceeding
LanguageEnglish
Published IEEE 06.11.2020
Subjects
A algorithm
Algorithm comparison
Heuristic algorithms
Mathematical model
Node optimization
Path planning
Safety
Search problems
Solid modeling
Three-dimensional displays
Three-dimensional path planning
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ISSN2688-0938
DOI10.1109/CAC51589.2020.9327873

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Summary:Aiming at the problem of global static path planning in the submarine terrain environment of autonomous underwater vehicle(AUV),A three-dimensional environment model was built based on gridmethod, and Dijsktra algorithm and A* algorithm were used to realize three-dimensional path search. The simulation results show that the search time of the two algorithms is shorter, but the A* algorithm is better than Dijsktra algorithm in terms of the number of nodes and path length.A multi-direction A* algorithm is designed to reduce the number of search nodes and further shorten the search path. AUV 3d path planning has high efficiency and real-time performance.
ISSN:2688-0938
DOI:10.1109/CAC51589.2020.9327873