3-Dimensional Path Planning for Autonomous Underwater Vehicle
3-Dimensional Path Planning for Autonomous Underwater Vehicle
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DOI：
10.1109/oceans.2018.8604783
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
Yiheng Wang;Y. R. Zheng
中科院分区：
文献类型：
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作者：
Yiheng Wang;Y. R. Zheng
提出了一种基于Dubins曲线的水下机器人三维空间多目标路径规划算法。对于给定的目标序列，三维路径规划通常分为两步：第一步将三维目标投影到X-Y平面上，并在此平面上设计一条二维路径;第二步通过插值将二维路径映射到三维。该算法为每对目标定义一个局部坐标系（LCS），并在LCS中设计二维Dubins曲线，然后利用欧拉旋转变换将二维Dubins曲线转换到三维全局坐标系（GCS）中。将所提出的旋转方法应用于给定的目标序列和给定的进出角度，产生在两个Dubins曲线的接合处具有保证的G2连续性的3D Dubins路径。并与插值法和Bezier曲线法进行了比较。计算机仿真结果表明，与现有的线性插值方法、样条插值方法和Bezier曲线相比，该算法具有更好的G2连续性和更短的路径长度。
This paper proposes a new algorithm for Autonomous Underwater Vehcle (AUV) path planning in 3D space to visit multiple targets using Dubins curves. For a given target-sequence, the 3D path planning is usually solved by two steps: Step 1 projects 3D targets to the X-Y plane and designs a 2D path on this plane; Step 2 maps the 2D path into 3D via interpolation. The proposed new algorithm defines a local coordinate system (LCS) for each pair of targets and designs the 2D Dubins curve in the LCS, then uses the Euler’s rotation transformation to convert the 2D dubins curve into the 3D global coordinate system (GCS). Applying the proposed rotation method to a given target sequence and given incoming-outgoing angles yields 3D Dubins path with guaranteed G2 continuity at the joints of two Dubins curves. The proposed method is compared with the interpolation method and Bezier curve method. Computer simulations demonstrate that the proposed algorithm provides better G2 continuity in 3D space or shorter path lengths than the existing linear or spline interpolation methods and Bezier curves.