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Article

Bilevel Optimization-Based Time-Optimal Path Planning for AUVs

College of Automation, Harbin Engineering University, Nantong Road No. 145, Harbin 150001, China
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Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4167; https://doi.org/10.3390/s18124167
Received: 28 September 2018 / Revised: 12 November 2018 / Accepted: 26 November 2018 / Published: 27 November 2018
(This article belongs to the Special Issue Mobile Robot Navigation)
Using the bilevel optimization (BIO) scheme, this paper presents a time-optimal path planner for autonomous underwater vehicles (AUVs) operating in grid-based environments with ocean currents. In this scheme, the upper optimization problem is defined as finding a free-collision channel from a starting point to a destination, which consists of connected grids, and the lower optimization problem is defined as finding an energy-optimal path in the channel generated by the upper level algorithm. The proposed scheme is integrated with ant colony algorithm as the upper level and quantum-behaved particle swarm optimization as the lower level and tested to find an energy-optimal path for AUV navigating through an ocean environment in the presence of obstacles. This arrangement prevents discrete state transitions that constrain a vehicle’s motion to a small set of headings and improves efficiency by the usage of evolutionary algorithms. Simulation results show that the proposed BIO scheme has higher computation efficiency with a slightly lower fitness value than sliding wavefront expansion scheme, which is a grid-based path planner with continuous motion directions. View Full-Text
Keywords: autonomous underwater vehicle (AUV); bilevel optimization (BIO); energy-optimal path; path planning autonomous underwater vehicle (AUV); bilevel optimization (BIO); energy-optimal path; path planning
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MDPI and ACS Style

Yao, X.; Wang, F.; Wang, J.; Wang, X. Bilevel Optimization-Based Time-Optimal Path Planning for AUVs. Sensors 2018, 18, 4167. https://doi.org/10.3390/s18124167

AMA Style

Yao X, Wang F, Wang J, Wang X. Bilevel Optimization-Based Time-Optimal Path Planning for AUVs. Sensors. 2018; 18(12):4167. https://doi.org/10.3390/s18124167

Chicago/Turabian Style

Yao, Xuliang, Feng Wang, Jingfang Wang, and Xiaowei Wang. 2018. "Bilevel Optimization-Based Time-Optimal Path Planning for AUVs" Sensors 18, no. 12: 4167. https://doi.org/10.3390/s18124167

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