A Real-time Motion Planning Algorithm for AUV based on IDVD Method

To enhance the intelligence of autonomous undersea vehicles(AUVs), this paper proposed a real-time motion planning algorithm based on the inverse dynamic virtual domain(IDVD) method, ensuring safe navigation in unknown environments with obstacles. In view of the limited computational resources of AU...

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Bibliographic Details
Published in水下无人系统学报 Vol. 33; no. 3; pp. 473 - 483
Main Authors Guoshun LIU, Wei GUO, Yanjun LAN, Yifan FU
Format Journal Article
LanguageChinese
Published Science Press (China) 01.06.2025
Subjects
autonomous undersea vehicle
inverse dynamic virtual domain
motion planning
trajectory optimization
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Summary:To enhance the intelligence of autonomous undersea vehicles(AUVs), this paper proposed a real-time motion planning algorithm based on the inverse dynamic virtual domain(IDVD) method, ensuring safe navigation in unknown environments with obstacles. In view of the limited computational resources of AUVs, a hierarchical framework was adopted to guarantee high computational efficiency for real-time planning. First, a safe global path was generated using a path planning algorithm, followed by path optimization within the sensing range of the forward-looking sonar to produce safe and feasible trajectories. Specially, for the kinematic constraints of underactuated AUVs, the hybrid A* algorithm was employed for searching safe paths based on global path search. Subsequently, a nonlinear optimization problem was formulated to enhance path smoothness and safety. The IDVD method was then applied to derive feasible velocity and acceleration trajectories of AUVs, which served as reference inputs to guide the AUVs’ navigati
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2025-0033