Visibility-Based Path Planning for Autonomous Underwater Vehicle

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: Robotik 2012

Seiten: 4Sprache: EnglischTyp: PDF

Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt

Autoren:
Gal, Oren (Technion, 32000 Haifa, Israel)

Inhalt:
This paper present three different methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods takes into account the dynamic constrains of the vehicle using advanced simulator of AUV. We present modified visibility graph local avoidance method for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.