Study on Improved D* Lite-Based Obstacle Avoidance and Navigation Strategy for the Ellipsoidal Underwater Robot

Qirong Lei1; Shuxiang Guo1,2; Chunying Li1; Jinglei Nie1

10.1109/ICMA61710.2024.10632935

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

Due to the complexity of the underwater environment, it is of great significance to improve the obstacle avoidance and navigation ability of Autonomous Underwater Vehicles (AUVs). In this paper, the Ellipsoidal Underwater Robot (EUR) platform was introduced first. Then, an improved D* Lite path planning and navigation algorithm was proposed, where the improving strategy includes a risk model and path smooth strategy based on splines. Besides, according to the planned path, a trajectory tracking law for the EUR was developed in order to guide the EUR in the expected direction. Furthermore, the simulation and practical experiments were conducted, and the results consistently demonstrated that the proposed strategy in this paper could effectively plan and guide the EUR to perform path planning and navigation while avoiding obstacles.

第一

1.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
2.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China

Qirong Lei,Shuxiang Guo,Chunying Li,et al. Study on Improved D* Lite-Based Obstacle Avoidance and Navigation Strategy for the Ellipsoidal Underwater Robot[C],2024.