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Open AccessArticle

A Real-Time Path Planning Algorithm for AUV in Unknown Underwater Environment Based on Combining PSO and Waypoint Guidance

Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China
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Sensors 2019, 19(1), 20; https://doi.org/10.3390/s19010020
Received: 27 October 2018 / Revised: 17 December 2018 / Accepted: 18 December 2018 / Published: 21 December 2018
(This article belongs to the Special Issue Advances on Vehicular Networks: From Sensing to Autonomous Driving)
It is a challengeable task to plan multi-objective optimization paths for autonomous underwater vehicles (AUVs) in an unknown environments, which involves reducing travel time, shortening path length, keeping navigation safety, and smoothing trajectory. To address the above challenges, a real-time path planning approach combining particle swarm optimization and waypoint guidance is proposed for AUV in unknown oceanic environments in this paper. In this algorithm, a multi-beam forward looking sonar (FLS) is utilized to detect obstacles and the output data of FLS are used to produce those obstacles’ outlines (polygons). Particle swarm optimization is used to search for appropriate temporary waypoints, in which the optimization parameters of path planning are taken into account. Subsequently, an optimal path is automatically generated under the guidance of the destination and these temporary waypoints. Finally, three algorithms, including artificial potential field and genic algorithm, are adopted in the simulation experiments. The simulation results show that the proposed algorithm can generate the optimal paths compared with the other two algorithms. View Full-Text
Keywords: path planning; particle swarm optimization; waypoint guidance; autonomous underwater vehicle; forward looking sonar path planning; particle swarm optimization; waypoint guidance; autonomous underwater vehicle; forward looking sonar
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MDPI and ACS Style

Yan, Z.; Li, J.; Wu, Y.; Zhang, G. A Real-Time Path Planning Algorithm for AUV in Unknown Underwater Environment Based on Combining PSO and Waypoint Guidance. Sensors 2019, 19, 20. https://doi.org/10.3390/s19010020

AMA Style

Yan Z, Li J, Wu Y, Zhang G. A Real-Time Path Planning Algorithm for AUV in Unknown Underwater Environment Based on Combining PSO and Waypoint Guidance. Sensors. 2019; 19(1):20. https://doi.org/10.3390/s19010020

Chicago/Turabian Style

Yan, Zheping; Li, Jiyun; Wu, Yi; Zhang, Gengshi. 2019. "A Real-Time Path Planning Algorithm for AUV in Unknown Underwater Environment Based on Combining PSO and Waypoint Guidance" Sensors 19, no. 1: 20. https://doi.org/10.3390/s19010020

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