طراحی الگوریتم درخت نمونه برداری تصادفی برای یک شناور بدون سرنشین خودمختار زیرسطحی جهت پرهیز از برخورد با موانع متحرک

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دکتری برق کنترل- دانشکده برق و الکترونیک-دانشگاه صنعتی مالک اشتر- تهران-ایران

2 دانشجوی فارغ التحصیل دانشکده مهندسی مکانیک، دانشگاه صنعتی شریف، تهران،9567-11155،ایران.

چکیده

Real-time dynamic obstacles avoidance in the pre-unknown environment is a state-of-the-art in the autonomous underwater vehicle path planning. In this paper, the Local Real-time Reactive Randomized Sampling-Based Tree (LR3SBT) is proposed. The LR3SBT considers various obstacles and applied the RRT algorithm to generate the collision-free path in the time varying environment. The LR3SBT consists of four components: 1- Sampling-Based Tree path planner (SBT-PP), 2- Local path planner (L-PP), 3- Reactive path planner (R-PP), and 4- Critical path planner (C-PP). The initial path is designed by offspring random nodes through the SBT-PP. If unknown obstacles are detected in the initially planned path, the L-PP is called by LR3SBT. The R-PP module is called if the desired path does not generate through the L-PP. If unknown dynamic obstacles are detected, the C-PP module is called. The planed path is optimized eliminating further nodes using the concept of triangular inequality. Simulation results demonstrate the path planning and dynamic obstacle avoidance in the pre-unknown environment through the LR3SBT. The real-time response and certain obstacles avoidance are two characteristic of the LR3SBT method.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Dynamic Obstacle Avoidance for AUV based on the Randomized Sampling-based Algorithm

نویسندگان [English]

  • Ehsan Taheri 1
  • Ali Adeli 2
1 Electrical Engineering Department, Malek-Ashtar University of Technology, Tehran, Iran.
2 M.Sc of Mechanical Engineering, Department of Mechanical Engineering, Sharif University of Technology, 11155-9567, Tehran, Iran.
چکیده [English]

Real-time dynamic obstacles avoidance in the pre-unknown environment is a state-of-the-art in the autonomous underwater vehicle path planning. In this paper, the Local Real-time Reactive Randomized Sampling-Based Tree (LR3SBT) is proposed. The LR3SBT considers various obstacles and applied the RRT algorithm to generate the collision-free path in the time varying environment. The LR3SBT consists of four components: 1- Sampling-Based Tree path planner (SBT-PP), 2- Local path planner (L-PP), 3- Reactive path planner (R-PP), and 4- Critical path planner (C-PP). The initial path is designed by offspring random nodes through the SBT-PP. If unknown obstacles are detected in the initially planned path, the L-PP is called by LR3SBT. The R-PP module is called if the desired path does not generate through the L-PP. If unknown dynamic obstacles are detected, the C-PP module is called. The planed path is optimized eliminating further nodes using the concept of triangular inequality. Simulation results demonstrate the path planning and dynamic obstacle avoidance in the pre-unknown environment through the LR3SBT. The real-time response and certain obstacles avoidance are two characteristic of the LR3SBT method.

کلیدواژه‌ها [English]

  • "
  • Path planning"
  • Rapidly-exploring Random Tree algorithm (RRT)"
  • Autonomous Underwater Vehicles (AUV)"
  • , "
  • Dynamic obstacle collision avoidance"