UUV dynamic path planning and trap escape strategies in unknown environment
A new planner based on sonar detection data is developed in this paper for the dynamic path planning of UUV in a global uncertain environment with concave traps. By analyzing sonar data, we divide the sensing area into a number of free sectors and block sectors; UUV tends to the target point through a optimal free sector. One virtual barrier called "entrance lock" was designed to assists the UUV to escape from traps, "entrance lock" is always be generated at the entrance of the trap, so it can also prevents the UUV from entering the concave trap that has been detected. The simulation shows that this method can solve the problem of long time wandering in the large concave trap, which exists in the traditional methods and even if the narrow feasible path is not ignored. The time consuming of the dynamic planning is just a little and can well meet the real time requirements in complex unknown dynamic environment.
2016 35th Chinese Control Conference (CCC)