The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles
Vladimir Filaretov, Dmitry Yukhimets
Abstract
The paper proposes a new method for trajectory formation of the AUVs group in “leader-follower” mode in the given formation in the unknown environment containing obstacles. In this mode, the AUV-leader defines the motion trajectory at the safe distance from the detected obstacles in accordance with the given mission. The AUVs-followers follow the leader and during obstacles avoidance they move along set in advance trajectories within the formation to ensure the safe distance between the AUVs-followers. In addition, the motion of the AUVs-followers along the predetermined trajectories allows to avoid additional data exchange between the AUVs with a view to match their positions.
Topics & Concepts
TrajectoryMotion planningPath (computing)Set (abstract data type)Motion (physics)Mode (computer interface)Group (periodic table)Obstacle avoidanceComputer scienceCollision avoidanceControl theory (sociology)Artificial intelligenceMobile robotRobotHuman–computer interactionControl (management)Computer securityCollisionPhysicsComputer networkQuantum mechanicsProgramming languageAstronomyRobotic Path Planning AlgorithmsControl and Dynamics of Mobile RobotsGuidance and Control Systems