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Author Praczyk, Tomasz
Affiliation Polish Naval Academy 69 Śmidowicza St., 81-103 Gdynia, Poland
E-mail t.praczyk@amw.gdynia.pl
ISSN printed 1733-8670
URI https://repository.am.szczecin.pl/handle/123456789/1213
Abstract Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with specialized software. The task of the software is to move the vehicle along a trajectory while avoiding collisions. In its role of avoiding obstacles, the vehicle may sometimes encounter situations in which it is very difficult to determine what the next movement should be from an ad hoc perspective. When such a situation occurs, a planning component of the vehicle software should be run with the task of charting a safe trajectory between nearby obstacles. This paper presents a new path planning algorithm for a Biomimetic Autonomous Underwater Vehicle. The main distinguishing feature of the algorithm is its high speed compared with such classic planning algorithms as A*. In addition to presenting the algorithm, this paper also summarizes preliminary experiments intended to assess the effectiveness of the proposed algorithm.
Pages 23-28
Publisher Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie
Keywords automatic control
Keywords path planning
Keywords collision avoidance
Keywords underwater vehicle
Keywords autonomy
Keywords effective planning algorithm
Title A quick algorithm for planning a path for a biomimetic autonomous underwater vehicle
Type Original scientific article
References
  1. Gu, J. (1992) Efficient local search for very large-scale satisfiability problems. Sigart Bulletin 3 (1). pp. 8–12.
  2. Malec, M., Morawski, M. & Zając, J. (2010) Fish-like swimming prototype of mobile underwater robot. Journal of Automation, Mobile Robotics & Intelligent Systems 4 (3). pp. 25–30.
  3. Rayward-Smith, V.J., Osman, I.H. & Reeves, C.R. (eds) (1996) Modern Heuristic Search Methods. London, UK: John Wiley.
  4. Selman, B. & Gomes, C.P. (2006) Hill-climbing Search. Encyclopedia of Cognitive Science.
  5. Szymak, P., Malec, M. & Morawski, M. (2010) Directions of development of underwater vehicle with undulating propulsion. Polish Journal of Environmental Studies 19 (3). Hard Publishing Company, Olsztyn. pp. 107–110.
ISSN on-line 2392-0378
Language English
Funding No data
Figures 5
Tables 0
DOI 10.17402/081
Published 2016-03-25
Accepted 2016-02-27
Recieved 2016-01-30


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