An Constraint Based Approach to Planning Collision-Free Navigation of Multi-AUVs with Environmental Disturbances
Sang-Hoon Ji, Woo-Hyun Ko, Yeun-Soo Jung, Beom-Hee Lee · Journal of the Korea Institute of Military Science and Technology · 2008
This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them.