TY - JOUR
AU - Aiyarak, Pattara
AB - This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle (USV) based on multi-beam forward looking sonar (FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom (surge and yaw). In this paper, two-dimensional (2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System (GPS) of the USV.
TI - Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles
JF - Journal of Marine Science and Application
DO - 10.1007/s11804-014-1224-3
DA - 2014-04-09
UR - https://www.deepdyve.com/lp/springer-journals/application-of-a-algorithm-for-real-time-path-re-planning-of-an-LKAmv3MCWj
SP - 105
EP - 116
VL - 13
IS - 1
DP - DeepDyve
ER -