Path Planning and Decision-making Control for AUV with Complex Environment
نویسنده
چکیده
Efficient path planning algorithms and decision-making control system are crucial issues for modern autonomous underwater vehicle (AUV) in complex underwater environment. In this paper, Fast Marching (FM) algorithm is used to extract cost optimal paths from complex and continuous environments, and meanwhile, we design a decision-making control system with reactive structure based on behavior. This system divides AUV’s behavior into two classes-Rational Behavior set and Perceptual Behavior set. Furthermore, in order to avoid dynamic obstacles, improved artificial potential field (APF) is used to implement secondary path planning in local environments. At last, we combine path planning method based on FM with decision-making control system with reactive structure based on behavior. This approach is not only capable of path planning but also of obstacle avoidance and navigation in complex environments which include fast moving obstacles. The effectiveness of proposed methods is verified by simulation results. Keywords-AUV; Path planning; Fast Marching algorithm; Decision-making control system; Artificial potential field
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