Numerical path planning for autonomous marine vehicle smooth transition between multi-survey segments

摘要

Autonomous marine vehicles (AMVs) are commonly used in autonomous marine survey activities. This paper investigates the online swath detection path planning algorithm, in which the smooth transition path planning between multi-survey segments is considered. The active and passive transition mode are realized based on subsea detection application. The Fermat's Spiral (FS) is specifically used to design the transition path between straight survey segments. The scope of FS segments between straight lines are optimized by considering the maneuverability of the vehicle. In addition, the FS is parameterized to simplify the subsequent path following control problem. Simulation results show that the Autonomous Surface vehicle (ASV) is capable to conduct path following in horizontal plane by employing the proposed online path planning algorithm.