Online path planning for autonomous underwater vehicles in unknown environments

Hernández, Juan David ORCID: https://orcid.org/0000-0002-9593-6789, Vidal, Eduard, Vallicrosa, Guillem, Galceran, Enric and Carreras, Marc 2015. Online path planning for autonomous underwater vehicles in unknown environments. Presented at: IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, WA, USA, 26-30 May 2015. 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 1152-1157. 10.1109/ICRA.2015.7139336

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Abstract

We present a framework for planning collision-free paths online for autonomous underwater vehicles (AUVs) in unknown environments. It is composed of three main modules (mapping, planning and mission handler) that incrementally explore the environment while solving start-to-goal queries. We use an octree-based representation of the environment and we extend the optimal rapidly-exploring random tree (RRT*) using concepts of anytime algorithms and lazy collision evaluation, thus including the capability to replan paths according to nearby obstacles perceived during the execution of the mission. To validate our approach, we plan paths for the SPARUS-II AUV, a torpedo-shaped vehicle performing autonomous missions in a 2-dimensional workspace. We demonstrate its feasibility with the SPARUS-II AUV in both simulation and real-world in-water trials.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Additional Information:	"© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."
Publisher:	IEEE
ISBN:	9781479969234
ISSN:	1050-4729
Date of First Compliant Deposit:	31 March 2021
Date of Acceptance:	30 January 2015
Last Modified:	09 Nov 2022 10:24
URI:	https://orca.cardiff.ac.uk/id/eprint/139362

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