 A new path planning method for AUV based on the Navier–Stokes equations for ocean currentsXinhui Yan, Wenke Wang, Chuangxia Huang and Le Li Mathematics and Computers in Simulation (MATCOM), 2024, vol. 222, issue C, 199-208 Abstract: The autonomous underwater vehicle (AUV), due to its flexibility, safety, and other characteristics, has been widely used in various marine applications such as underwater mapping, marine ecological monitoring and marine scientific. When navigating in complex and ever-changing ocean currents, one of the key challenges in AUV control is how to effectively avoid unknown obstacles such as sunken ships and reefs, and plan the route to reach the target point. In this paper, based on partially measured ocean current velocities, the Navier–Stokes equations (N–S equations) are used to characterize the ocean current velocities within a small-scale region. Furthermore, the improved artificial potential field method is used for path planning after integrating the velocity information. Simulation and experiments indicate that the proposed algorithm is better suited to complex marine environments. Keywords: AUV; Complex current environment; N–S equations; Artificial potential field; Path planning (search for similar items in EconPapers) Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:222:y:2024:i:c:p:199-208 DOI: 10.1016/j.matcom.2023.08.030 Access Statistics for this article Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier |
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