A Novel Hybrid Method in Global Path Planning for Autonomous Underwater Vehicles

• Main Authors: Shabnam Pesteh, Ahmadreza Naghsh-Nilchi, Farid Sheykholeslam
• Format: Article
• Language: English
• Published: Najafabad Branch, Islamic Azad University 2010-01-01
• Series: Journal of Intelligent Procedures in Electrical Technology
• Subjects: Path planning; obstacle avoidance; Autonomous underwater vehicles; mobile robots
• Online Access: http://jipet.iaun.ac.ir/pdf_4484_7a31ebf1ba043941b83d6e9be8dba912.html
• ISSN: 2322-3871; 2345-5594

Numerous methods have been developed to solve the path planning problem, among which the visibility graph, Voronoi diagram, Quad-Tree and Wave-Front are well-known techniques. In this paper, a new global path planning algorithm named HYBRID-Visibility-QuadTree-Voronoi-WaveFront method (HYBRID-VQVW) is presented where these four methods are integrated in a single architecture. After constructing these global trajectories of C-space, the best trajectory among four is selected in every sampling distance by several criterions. These criterions consist of length, smoothness and safety of the trajectory. In fact, the algorithm provides a parametric tradeoff between shortest, safest and smoothest paths and generally yields shorter and smoother paths than the Voronoi, Quad-Tree and Wave-Front methods, and safer than the visibility graph.