Path Planning For Underwater Vehicle Based On Double Propagation Wave Algorithm

This paper is focused on global path planning in a known 3-D environment for autonomous underwater vehicle.As a main component of autonomous navigation system, global path planning plays an important role for an intelligent robot. For an autonomous underwater vehicle, it is very important to search a safe and efficient path in the environment with obstacle and other constraints.In this paper, above all, concisely introduces knowledge about autonomous underwater vehicle, such as interrelated brief, dynamic research development, background and meaning of this thesis. Then common methods on of modeling of environment and searching strategy are reviewed. The advantages and disadvantages of those methods are also listed.AS the main theory foundation of the thesis, focused great attention on the data structure of Octree and the theory and implement of the Double Propagation Wave algorithm on grid model in 2-D space. As the main new trails of the thesis, firstly, we used the Double Propagation Wave algorithm to find path on grid model in 3-D space. Then we used the Double Propagation Wave algorithm to find path in Octree model. Finally the simulation shows the validity of Double Propagation Wave algorithm to find path for underwater vehicle.This paper is focused on global path planning for autonomous underwater vehicle using Double Propagation Wave algorithm. This paper provides a new algorithm for the path planning of underwater vehicle. The paper considers only the validity of the 3-D path planning using Double Propagation Wave algorithm, ignoring other requirements of the underwater vehicle. This is the shortcoming. The Double Propagation Wave algorithm needs further study.