A Motion Planning Method for an Autonomous Underwater Vehicle with Kinematic Constraints
Qipeng Liang, Xinhua Zhao, Xiufen Ye · 2023
Motion planning is essential for the autonomous underwater vehicle (AUV) to achieve complete autonomous navigation in unknown environments. The two-layer motion planning framework, which combines path searching and trajectory parameterization, cannot deal with the non-zero initial state of AUV and is even unable to plan a dynamically feasible trajectory in an environment that needs reversing. In this paper, we combine the AUV motion state with the grid map and propose a path searching algorithm based on kinematics to ensure the correctness and dynamic feasibility of the path. By exploiting the advantages of the B-spline, the trajectory optimization strategy with a safety guarantee algorithm is proposed to ensure the safety of the final trajectory. Comparing with the other methods, the general applicability of this framework was demonstrated using a simulation system.