Efficient 3D Homing Path Planning for AUV Docking

被引：0
|
作者：
Shi, Kai [1 ,2 ,3 ]
Wang, Xiaohui [1 ,2 ]
Wang, Yiqun [1 ,2 ,3 ]
Ma, Xiaoou [4 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
[2] Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110016, Peoples R China
[3] Univ Chinese Acad Sci, Beijing 100049, Peoples R China
[4] Liaoning Sci & Technol Museum, Shenyang 110167, Peoples R China
来源：
2020 35TH YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2020年
关键词：
path planning; AUV; homing path; RRT*; Dubins curve;
D O I：
10.1109/YAC51587.2020.9337643
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study explores a 3D homing path planning method for AUV docking. Using the improved RRT* algorithm, the obstacle-free 3D path for AUV homing to docking station is generated. By using the 3D Dubins curve to improve the local planner and cost evaluation function of the RRT* algorithm, we propose a method to obtain the homing path satisfying the terminal constraints and kinematic constraints with a smaller calculation cost. In addition, greedy method is used to improve the efficiency of the algorithm. Path pruning is used to remove unnecessary way points to obtain a more concise path. Two numerical examples are presented to illustrate the effectiveness of the proposed method.
引用
收藏
页码：353 / 358
页数：6
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