Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles
The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/21/7894 |
| _version_ | 1797548548502323200 |
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| author | Sergey Ulyanov Igor Bychkov Nikolay Maksimkin |
| author_facet | Sergey Ulyanov Igor Bychkov Nikolay Maksimkin |
| author_sort | Sergey Ulyanov |
| collection | DOAJ |
| description | The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered on the path. A two-level control system is proposed with an upper level for event-driven path planning and a lower level for path-following. A discrete event system is designed to identify situations that require planning a new path. An improved waypoint guidance algorithm and a Dubins curves based algorithm are proposed to build paths that allow the AUV to avoid collision with obstacles and to return to the reference path respectively. Both algorithms generate paths that meet the minimum turning radius constraint. A robust parameter-varying controller is designed using sublinear vector Lyapunov functions to solve the path-following problem. The performance of the developed event-based control system is demonstrated in three different simulation scenarios: with a sharp-edged obstacle, with a U-shaped obstacle, and with densely scattered obstacles. The proposed scheme does not require significant computing resources and allows for easy implementation on board. |
| first_indexed | 2024-03-10T15:02:08Z |
| format | Article |
| id | doaj.art-6ccf427e15de4e58a19635c4508da16b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T15:02:08Z |
| publishDate | 2020-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-6ccf427e15de4e58a19635c4508da16b2023-11-20T20:07:14ZengMDPI AGApplied Sciences2076-34172020-11-011021789410.3390/app10217894Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater VehiclesSergey Ulyanov0Igor Bychkov1Nikolay Maksimkin2Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences, 134, Lermontova str., Irkutsk 664033, RussiaMatrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences, 134, Lermontova str., Irkutsk 664033, RussiaMatrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences, 134, Lermontova str., Irkutsk 664033, RussiaThe paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered on the path. A two-level control system is proposed with an upper level for event-driven path planning and a lower level for path-following. A discrete event system is designed to identify situations that require planning a new path. An improved waypoint guidance algorithm and a Dubins curves based algorithm are proposed to build paths that allow the AUV to avoid collision with obstacles and to return to the reference path respectively. Both algorithms generate paths that meet the minimum turning radius constraint. A robust parameter-varying controller is designed using sublinear vector Lyapunov functions to solve the path-following problem. The performance of the developed event-based control system is demonstrated in three different simulation scenarios: with a sharp-edged obstacle, with a U-shaped obstacle, and with densely scattered obstacles. The proposed scheme does not require significant computing resources and allows for easy implementation on board.https://www.mdpi.com/2076-3417/10/21/7894autonomous underwater vehiclereal-time path-planningpath-followingdiscrete-event systemDubins pathforward-looking sonar |
| spellingShingle | Sergey Ulyanov Igor Bychkov Nikolay Maksimkin Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles Applied Sciences autonomous underwater vehicle real-time path-planning path-following discrete-event system Dubins path forward-looking sonar |
| title | Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles |
| title_full | Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles |
| title_fullStr | Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles |
| title_full_unstemmed | Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles |
| title_short | Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles |
| title_sort | event based path planning and path following in unknown environments for underactuated autonomous underwater vehicles |
| topic | autonomous underwater vehicle real-time path-planning path-following discrete-event system Dubins path forward-looking sonar |
| url | https://www.mdpi.com/2076-3417/10/21/7894 |
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