AUV 3D Path Planning Based on Improved Empire Competition Algorithm in Ocean Current Environmentdoi:10.1007/978-981-19-3927-3_4Aiming at the global three-dimensional path planning of autonomous underwater vehic
A path planning problem of AUV in a dynamic environment is presented by using the Fuzzy- PSO controller in the paper. A novel fuzzy inference controller is developed to generate a collision-free path from an i...
Finally, the research trends of AUV path planning algorithm in intelligent development, fusion and multi-AUV collaboration, and the development of AUV remoteness for wide-area detection are prospected. Key words: autonomous underwater vehicle (AUV); environmental modeling method; path search algorithm ...
Aiming at the multi-AUVs task assignment and path planning in the ocean current underwater environment with multi-obstacles, a novel autonomous task assignment and path planning algorithm is presented based on the biological inspired neural network model and grid map, and the impact of ocean current...
This paper investigates the obstacle avoidance problem of AUV in complex ocean current environment, and designs an obstacle avoidance algorithm based on the N–S equations and improved artificial potential field method. In addition to path-planning tasks, tasks such as cluster formation and benthic we...
Abstract: AUV path planning algorithm is one of the core technologies of AUV. Based on the analysis of the back-ground of AUV autonomous cruise technology, the paper summarizes the research status of the global path planning environ-ment modeling method for the seabed environment, and compares ...
摘 要：为获取变化海流环境下自主水下航行器（ａｕｔｏｎｏｍｏｕｓｕｎｄｅｒｗａｔｅｒｖｅｈｉｃｌｅ，ＡＵＶ）的能量最优路径，基于最优控制理论提出一种用于ＡＵＶ的三维能量最优路径规划算法。首先，为了有效抑制海流对路径规划的影响，将海流向量加入到ＡＵＶ运动学模型中。其次，在已知俯仰角及ＡＵＶ位置的情况...
path planning strategies onreal—timebecauseof robitio moving inthe space undertheocean.BasedonthesensorvisionzoneandAUVattitude dynamics,a 3Dnear-shortest pathplanningalgorithm is developed for theAUVintheunknownenvironment. The paper studiestheAUV ...
validated AUV docking control in 3D controls based on DRL algorithms such as twin delayed Deep Deterministic policy gradient algorithm (TD3), soft actor–critic (SAC), and PPO, but still lacked the exploration of disturbance and dynamics model uncertainty (Patil et al., 2021). In view of ...
三维水下环境中的多AUV围捕路径规划算法