Visibility-Based Path Planning for Autonomous Underwater Vehicle

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 4Language: englishTyp: PDF

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Gal, Oren (Technion, 32000 Haifa, Israel)

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.