抄録
An advanced algorithm of collision-free motion planning for multi-AUV (Autonomous Underwater Vehicle) is suggested to accomplish various missions in complex underwater environment. First of all, we propose the path generation algorithm from 3D digital underwater terrain maps made by mapping algorithm. We optimize the visibility graph and make minimum-time 3d curved path in consideration of the dynamics of AUVs, which have non-holonomic constraints, such as an inability of quick turning a heading angle and a difficulty of changing submerged velocity in underwater environment. Furthermore, we plan 3d collision-free trajectory using the extended collision map for multi-AUV. Finally, we suggest the real time simulator of multi-AUV navigation.
