AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area
In this study, an online path planning strategy capable of traversing narrow passages is proposed for an autonomous underwater vehicle equipped only with forward-looking sonar in unknown environments. First, to establish the environment model, the sonar fan-shaped detection area is subdivided into m...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/3/443 |
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| _version_ | 1850090438013222912 |
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| author | Yang Liu Jinxi Sun Guojie Li Xiujun Xu |
| author_facet | Yang Liu Jinxi Sun Guojie Li Xiujun Xu |
| author_sort | Yang Liu |
| collection | DOAJ |
| description | In this study, an online path planning strategy capable of traversing narrow passages is proposed for an autonomous underwater vehicle equipped only with forward-looking sonar in unknown environments. First, to establish the environment model, the sonar fan-shaped detection area is subdivided into multiple sectorial grids. Then, a comprehensive cost function combining safety, smoothness, and cost is utilized to generate the optimal heading. Furthermore, to safely pass through narrow passages, a sequence of subgoals for polynomial trajectory planning are determined on the perpendicular bisector ahead of the central line. The simulation results demonstrate the effectiveness of the proposed strategy, which determines the optimal heading through fan-shaped grid costs and generates a safe and smooth path. The AUV can achieve more safety navigating in obstructed areas and narrow passages. |
| format | Article |
| id | doaj-art-e2a4fadcc1774232bbf83eacf5cc32e9 |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-e2a4fadcc1774232bbf83eacf5cc32e92025-08-20T02:42:34ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-02-0113344310.3390/jmse13030443AUV Online Path Planning Strategy Based on Sectorial Gridded Detection AreaYang Liu0Jinxi Sun1Guojie Li2Xiujun Xu3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaQingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaQingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaIn this study, an online path planning strategy capable of traversing narrow passages is proposed for an autonomous underwater vehicle equipped only with forward-looking sonar in unknown environments. First, to establish the environment model, the sonar fan-shaped detection area is subdivided into multiple sectorial grids. Then, a comprehensive cost function combining safety, smoothness, and cost is utilized to generate the optimal heading. Furthermore, to safely pass through narrow passages, a sequence of subgoals for polynomial trajectory planning are determined on the perpendicular bisector ahead of the central line. The simulation results demonstrate the effectiveness of the proposed strategy, which determines the optimal heading through fan-shaped grid costs and generates a safe and smooth path. The AUV can achieve more safety navigating in obstructed areas and narrow passages.https://www.mdpi.com/2077-1312/13/3/443autonomous underwater vehiclepath planningsectorial gridded detection areanarrow passage traversing strategy |
| spellingShingle | Yang Liu Jinxi Sun Guojie Li Xiujun Xu AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area Journal of Marine Science and Engineering autonomous underwater vehicle path planning sectorial gridded detection area narrow passage traversing strategy |
| title | AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area |
| title_full | AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area |
| title_fullStr | AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area |
| title_full_unstemmed | AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area |
| title_short | AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area |
| title_sort | auv online path planning strategy based on sectorial gridded detection area |
| topic | autonomous underwater vehicle path planning sectorial gridded detection area narrow passage traversing strategy |
| url | https://www.mdpi.com/2077-1312/13/3/443 |
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