Book ChapterDOI
Obstacle Avoidance Using Multi-Point Potential Field Approach for an Underactuated Flat-Fish Type AUV in Dynamic Environment
Saravanakumar Subramanian,Thomas George,Asokan Thondiyath +2 more
- pp 20-27
TLDR
In this article, a multi-point potential field (MPPF) method for obstacle avoidance of AUVs in a 2D dynamic environment is presented, where an arc of predefined radius on a semicircle in the positive x-axis around the bow of an AUV is discretized into equiangular points with center as the current position.Abstract:
This paper presents a multi-point potential field (MPPF) method for obstacle avoidance of Autonomous Underwater Vehicles (AUV) in a 2D dynamic environment. In this method, an arc of predefined radius on a semicircle in the positive x-axis around the bow of an AUV is discretized into equiangular points with centre as the current position. By determining the point at which the minimum potential exists, the vehicle can be moved towards that point in 2D space. Here the analytical gradient of the total potential function is not calculated as it is not essentially required for moving the vehicle to the next position. The proposed obstacle avoidance algorithm is interfaced with the dynamic model of an underactuated flat-fish type AUV. The obstacle avoidance algorithm generates the path elements to the trajectory planner and the vehicle tracks the trajectory. The details of the algorithm and simulation results are presented.read more
Citations
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Journal ArticleDOI
Methodology for Path Planning and Optimization of Mobile Robots: A Review
Mohd. Nayab Zafar,J. C. Mohanta +1 more
TL;DR: The present research on mobile robotics addresses the problems which are mainly on path planning algorithm and optimization in static as well as dynamic environments with a focus on meta-heuristic methods.
Journal ArticleDOI
Path Planning Technologies for Autonomous Underwater Vehicles-A Review
Daoliang Li,Peng Wang,Ling Du +2 more
TL;DR: The most prominent feature of this paper is to summarize the improvement methods of various technical shortcomings and improve the original methods, such as dynamic obstacle avoidance, optimization path, coverage, and processing speed.
Journal ArticleDOI
Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space
TL;DR: A multipoint potential field method for path planning of autonomous underwater vehicles (AUV) in 3D space is presented in this paper and it is found that the local minima in 2D space can be easily overcome with the MPPF.
Journal ArticleDOI
An obstacle avoidance strategy for the wave glider based on the improved artificial potential field and collision prediction model
Wang Daoyong,Wang Daoyong,Wang Peng,Wang Peng,Xiantao Zhang,Xiantao Zhang,Xiaoxian Guo,Xiaoxian Guo,Yaqing Shu,Xinliang Tian,Xinliang Tian +10 more
TL;DR: Simulation results show that the wave glider can accomplish the obstacle avoidance task with the proposed CPM-IAPF algorithm when facing with different dynamic obstacles under various marine environments.
A review on motion planning and obstacle avoidance approaches in dynamic environments
TL;DR: In this paper, about 80 articles have been reviewed and briefly described to offer an outline of the research progress in motion planning of mobile robot approaches in dynamic environments for the last five years.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Proceedings ArticleDOI
Potential field methods and their inherent limitations for mobile robot navigation
Yoram Koren,Johann Borenstein +1 more
TL;DR: Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs) and developed a new method for fast obstacle avoidance.
Journal ArticleDOI
New potential functions for mobile robot path planning
Shuzhi Sam Ge,Y.J. Cui +1 more
TL;DR: New repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total potential.
Proceedings ArticleDOI
Real-time obstacle avoidance using harmonic potential functions
Junggon Kim,Pradeep K. Khosla +1 more
TL;DR: A novel formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment and an elegant control strategy for the real-time control of a robot is proposed.