Path planning for underwater docking based on Modified Artificial Potential Field
Peng Cui, Weisheng Yan, Xinxin Guo · 2016
This paper presents a path planning approach for underwater docking in a three-dimensional environment based on a Modified Artificial Potential Field (MAPF) method. To meet the requirements of docking task, a virtual position point and a virtual attitude point are adopted to construct the MAPF forces. The virtual position point is used to keep the vehicle approaching the docking station. The virtual attitude point is used to adjust the vehicle's attitude to reduce the deviation from the docking station's entrance. Local minima problem is also considered in this paper and a resolvement is proposed by adding an escape force. Simulation results show that in both static and dynamic environment, the docking path planning approach is suitable and efficient.