A Novel Approach To Online Underwater Path Planning With Particle Simulation System

摘要

This paper proposes a novel approach to online three-dimensional path planning for underwater unmanned vehicles (UUV) with a particle simulation system. Obstacles and disruptive regions are modeled with Constructive Solid Geometry (CSG). The solution space is bounded by a spheroid, with the start and target points as foci, and the length of the major axis equal to the maximum distance allowed for traversal. Obstacles and regions outside this space are filtered out. Particles emerge from the start and target points, flood and traverse through bounded space obeying collision rules, and form paths when particles from opposite ends collide. These paths form a pool of solutions in which the best are selected depending on criteria.