Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles
The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This article presents a global trajectory planning system...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/22/4602 |
| _version_ | 1797459544808357888 |
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| author | Rafał Kot |
| author_facet | Rafał Kot |
| author_sort | Rafał Kot |
| collection | DOAJ |
| description | The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This article presents a global trajectory planning system based on a multimodal approach. The trajectory of the vehicle’s movement has been divided into segments between introduced waypoints and calculated in parallel by advanced path planning methods: modified A* method, artificial potential field (APF), genetic algorithm (GA), particle swarm optimisation (PSO), and rapidly-exploring random tree (RRT). The shortest paths in each planned segment are selected and combined to give the resulting trajectory. A comparison of the results obtained by the proposed approach with the path calculated by each method individually confirms the increase in the system’s effectiveness by ensuring a shorter trajectory and improving the system’s reliability. Expressing the final trajectory in the form of geographical coordinates with a specific arrival time allows the implementation of calculation results in mission planning for autonomous underwater vehicles used commercially and in the military, as well as for autonomous surface vehicles (ASVs) equipped with trajectory tracking control systems. |
| first_indexed | 2024-03-09T16:52:53Z |
| format | Article |
| id | doaj.art-8bddfac89070422b96360a8c9a28663a |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T16:52:53Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-8bddfac89070422b96360a8c9a28663a2023-11-24T14:39:11ZengMDPI AGElectronics2079-92922023-11-011222460210.3390/electronics12224602Multimodal Global Trajectory Planner for Autonomous Underwater VehiclesRafał Kot0Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, 81-127 Gdynia, PolandThe underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This article presents a global trajectory planning system based on a multimodal approach. The trajectory of the vehicle’s movement has been divided into segments between introduced waypoints and calculated in parallel by advanced path planning methods: modified A* method, artificial potential field (APF), genetic algorithm (GA), particle swarm optimisation (PSO), and rapidly-exploring random tree (RRT). The shortest paths in each planned segment are selected and combined to give the resulting trajectory. A comparison of the results obtained by the proposed approach with the path calculated by each method individually confirms the increase in the system’s effectiveness by ensuring a shorter trajectory and improving the system’s reliability. Expressing the final trajectory in the form of geographical coordinates with a specific arrival time allows the implementation of calculation results in mission planning for autonomous underwater vehicles used commercially and in the military, as well as for autonomous surface vehicles (ASVs) equipped with trajectory tracking control systems.https://www.mdpi.com/2079-9292/12/22/4602global path planningautonomous underwater vehicleautonomous surface vehiclecollision avoidance |
| spellingShingle | Rafał Kot Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles Electronics global path planning autonomous underwater vehicle autonomous surface vehicle collision avoidance |
| title | Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles |
| title_full | Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles |
| title_fullStr | Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles |
| title_full_unstemmed | Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles |
| title_short | Multimodal Global Trajectory Planner for Autonomous Underwater Vehicles |
| title_sort | multimodal global trajectory planner for autonomous underwater vehicles |
| topic | global path planning autonomous underwater vehicle autonomous surface vehicle collision avoidance |
| url | https://www.mdpi.com/2079-9292/12/22/4602 |
| work_keys_str_mv | AT rafałkot multimodalglobaltrajectoryplannerforautonomousunderwatervehicles |