无人驾驶水下航行器路径规划

Path planning for Unmanned Underwater VehiclesClment Ptrs and Pedro PatrnHeriot Watt UniversitySchool of Engineering and Physical SciencesEdinburgh,EH14 4AScp23,P.Patronhw.ac.ukAbstractEfficient path planning algorithms for embeddedsystems are a crucial issue for modern unmannedunderwater vehicles.This paper proposes a methodwhich is able to find paths from continuous en-vironments prone to fields of force in a reliableand efficient manner.Classical path planning al-gorithms in artificial intelligence have limited per-formance and they are not designed to cope withreal-time constraints of systems moving in a hos-tile underwater environment.We present a novelapproach based on an advanced numerical tech-nique called the Fast Marching algorithm to solvethe following three issues.First,we extract a con-tinuous path in an environment evenly mapped toa discrete grid.Secondly,the vehicle kinematicsis introduced as a constraint on the optimal pathcurvature,and thirdly we take underwater currentsinto account thanks to an efficient extension of theoriginal Fast Marching algorithm.Finally,a mul-tiresolution scheme based on adaptive mesh gener-ation is compared to incremental search techniques