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Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles 总被引:1,自引:0,他引:1
Thanapong Phanthong Toshihiro Maki Tamaki Ura Takashi Sakamaki Pattara Aiyarak 《船舶与海洋工程学报》2014,13(1):105-116
This paper describes path re-planning techniques andunderwater obstacle avoidance for unmanned surface vehicle (USV)based on multi-beam forward looking sonar (FLS). Near-optimalpaths in static and dynamic environments with underwaterobstacles are computed using a numerical solution procedure basedon an A algorithm. The USV is modeled with a circular shape in 2degrees of freedom (surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time pathre-planning technique for actual USV using multi-beam FLS aredeveloped. Our real-time path re-planning algorithm has beentested to regenerate the optimal path for several updated frames inthe field of view of the sonar with a proper update frequency of theFLS. The performance of the proposed method was verifiedthrough simulations, and sea experiments. For simulations, theUSV model can avoid both a single stationary obstacle, multiplestationary obstacles and moving obstacles with the near-optimaltrajectory that are performed both in the vehicle and the worldreference frame. For sea experiments, the proposed method for anunderwater obstacle avoidance system is implemented with a USVtest platform. The actual USV is automatically controlled andsucceeded in its real-time avoidance against the stationary underseaobstacle in the field of view of the FLS together with the GlobalPositioning System (GPS) of the USV. 相似文献
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