Efficient 3D homing path planning for AUV docking

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	Efficient 3D homing path planning for AUV docking
	Shi K(石凯)1,3,4; Wang XH(王晓辉)1,4; Wang YQ(王轶群)1,3,4; Ma XO(马小鸥)2
	2020
会议日期	October 16-18, 2021
会议地点	Zhanjiang, China
关键词	path planning AUV homing path RRT* Dubins curve
页码	353-358
英文摘要	This study explores a 3D homing path planning method for AUV docking. Using the improved RRT∗ algorithm, the obstacle-free 3D path for AUV homing to docking station is generated. By using the 3D Dubins curve to improve the local planner and cost evaluation function of the RRT∗ algorithm, we propose a method to obtain the homing path satisfying the terminal constraints and kinematic constraints with a smaller calculation cost. In addition, greedy method is used to improve the efficiency of the algorithm. Path pruning is used to remove unnecessary way points to obtain a more concise path. Two numerical examples are presented to illustrate the effectiveness of the proposed method.
产权排序	1
会议录	Proceedings - 2020 35th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2020
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-7684-0
WOS记录号	WOS:000659281900063
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/28380]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Shi K(石凯)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Liaoning Science and Technology Museum, Shenyang 110167, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Shi K,Wang XH,Wang YQ,et al. Efficient 3D homing path planning for AUV docking[C]. 见:. Zhanjiang, China. October 16-18, 2021.