Abstract
When an unmanned underwater vehicle (UUV) is carrying out long-distance missions, due to its limited sensors, it is necessary to make full use of the marine environment information known from electronic charts (EC) to construct a safe path. However, the original data of EC are redundant and complex, and it is difficult to be directly used by the path planning system. To solve this problem, an EC data preprocessing is designed by using triangular obstacle discern method to recognize obstacles to form seabed data, we can use A* or PSO to plan a suitable path, and finally realized efficient autonomous path planning with EC. This method effectively improves UUV's independent planning and decision-making ability and enhances the intelligence of the UUV.
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Feng, L., Xu, Z., Jian-ping, L., Jun-tao, P. (2023). Autonomous Path Planning Method Based on Marine Environmental Information. In: Fu, W., Gu, M., Niu, Y. (eds) Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022). ICAUS 2022. Lecture Notes in Electrical Engineering, vol 1010. Springer, Singapore. https://doi.org/10.1007/978-981-99-0479-2_35
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DOI: https://doi.org/10.1007/978-981-99-0479-2_35
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