An improved belief function method for path planning of AUV
Mingzhi Chen, Daqi Zhu · 2017
Path planning of AUV is a research topic of great importance. And the velocity vector synthesis method and belief function method can be applied in this area. Though it can plan a straight way for AUV to reach the target under the influence of current, the velocity vector synthesis method cannot avoid obstacles. Then belief function method is proposed to avoid obstacles and prevent speed jump of AUV. But the method may have folding path and “dead point” problems sometimes. Therefore, it cannot be applied in practical circumstances. In this paper, a restricted velocity vector synthesis method combined with improved belief function is proposed to overcome these situations. The effectiveness of the proposed algorithm is proved through effectiveness simulation. And comparison simulation is carried out. It is demonstrated that the folding path and “dead point” problems are solved by the improved method.