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Most existing path planning algorithms focus on generating piecewise linear functions, while the smoothness of the path is usually ignored. Route stability and energy saving are key issues for an autonomous underwater vehicle (AUV) working in the underwater environment. To ensure that AUV can pass through the target area steadily and safely, a path smoother is required. This paper puts forward a novel...
One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized...
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
AUVs increasingly are being used to collect data in the benthic environment. Many of these data collection tasks require that the AUV is able to follow the terrain at standoff distances on the order of meters (e.g. benthic imaging). However, terrain following with an AUV is a challenging problem when the terrain is rough, and the task becomes even more difficult when using motion-constrained vehicles...
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems...
This paper proposes a novel approach for autonomous mission plan recovery for maintaining operability of unmanned underwater vehicles. It combines the benefits of knowledge-based ontology representation, autonomous partial ordering plan repair and robust mission execution. The approach uses the potential of ontology reasoning in order to orient the planning algorithms adapting the mission plan of...
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