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In this paper, a path planning system is proposed for optimal motions of underwater glider in three-dimensional (3D) space. Inspired by the Dubins Paths consisting of straight lines and circular arcs, this paper presents the 3D Dubins curve to accommodate the characteristic glider motions, including sawtooth motion and spiral motion. This modified 3D Dubins scheme is combined with genetic algorithm...
This paper presents a path planner for rendezvous of multiple autonomous underwater vehicles (AUVs) in turbulent, cluttered, and uncertain environments. The proposed strategy combines an Optimized Mass-center rendezvous point selection scheme with an evolutionary path planner to find trajectories for multiple AUVs with minimal time usage over all participating vehicles and simultaneous arrival of...
This paper presents an optimal and efficient path planner using adaptive B-spline approximation mechanism for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed method recursively inserts midpoint knots until an approximated B-Spline curve that satisfies the accuracy criteria is achieved. The method is able to adapt the quantity of internal...
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