Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

Abstract

This paper presents two efficient methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods take into account the dynamic constraints of the vehicle using advanced simulator of AUV considering low level control and stability effects. We present modified visibility graph local avoidance method and a spiral algorithm for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.