AUV real-time path planning in partly unknown environment through the Local-RRT

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TAHERI EHSAN; Ferdowsi Mohammad Hossien; Danesh Mohammad

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Paper Information

Journal: IRANIAN JOURNAL OF MARINE TECHNOLOGY Year:2019 | Volume:6 | Issue:3 (17) Page(s): 1-14

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Title

AUV real-time path planning in partly unknown environment through the Local-RRT

Author(s)

TAHERI EHSAN | Ferdowsi Mohammad Hossien | Danesh Mohammad | Issue Writer Certificate

Keywords

Autonomous Underwater Vehicle (AUV)Q1

Path PlanningQ2

Partly unknown environmentQ1

Local RapidlyQ1

exploring Random Tree (LQ1

RRT)Q1

ProcessorQ1

inQ1

theQ1

Loop (PIL) TestQ1

Abstract

The Partly unknown environment of the vast seas and the lack of prior accurate map of the workspace is one of the current challenges facing the autonomous underwater vehicle (AUV) in carrying out missions. Real-time Path Planning for an AUV from an initial position and velocity to a target position and velocity in a Partly unknown environment by considering the pre-unknown obstacles is the main motivation of this research. For this purpose, the Local Rapidly-exploring random tree (L-RRT) algorithm is proposed for the AUV. This L-RRT consists of three tightly coupled components of: a Path Planning module (PPM), a local real-time Path Planning module (LRPPM) and an obstacle detection module (ODM). Each of a random vertices and related branch are generated through the PPM and then from the perspective of the kinodynamic constraints are evaluated by the low-level controller and nonlinear AUV model. If the generated vertex and related branch in the considered time satisfy the kinodynamic constraints in simultaneous manner, these and in addition the horizontal and vertical control signals are recorded through the path planner algorithm. If a pre-unknown obstacle is detected by the ODM, path is re-planed through the LRPPM based on the current position and orientation of AUV to the nearest vertex. The L-RRT is implemented on the single board computer (SBC) through the xPC-Target builder and then the ability of this algorithm is evaluated through the processor-in-the-loop (PIL) test. The results of the PIL tests indicate that the AUV through the proposed L-RRT not only plans the path by avoiding the pre-unknown obstacles in a cluttered environment, but also due to the random nature of this method the path is planned in a real-time manner.

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APA: Copy

TAHERI, EHSAN, Ferdowsi, Mohammad Hossien, & Danesh, Mohammad. (2019). AUV real-time path planning in partly unknown environment through the Local-RRT. IRANIAN JOURNAL OF MARINE TECHNOLOGY, 6(3 (17) ), 1-14. SID. https://sid.ir/paper/251948/en

Vancouver: Copy

TAHERI EHSAN, Ferdowsi Mohammad Hossien, Danesh Mohammad. AUV real-time path planning in partly unknown environment through the Local-RRT. IRANIAN JOURNAL OF MARINE TECHNOLOGY[Internet]. 2019;6(3 (17) ):1-14. Available from: https://sid.ir/paper/251948/en

IEEE: Copy

EHSAN TAHERI, Mohammad Hossien Ferdowsi, and Mohammad Danesh, “AUV real-time path planning in partly unknown environment through the Local-RRT,” IRANIAN JOURNAL OF MARINE TECHNOLOGY, vol. 6, no. 3 (17) , pp. 1–14, 2019, [Online]. Available: https://sid.ir/paper/251948/en

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