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Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

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Journal of Marine Science and Application 2014年第1期13卷 105-116页

作者： thanapong phanthong Toshihiro Maki Tamaki Ura Takashi Sakamaki Pattara Aiyarak Department of Physics Faculty of Science Prince of Songkla University Institute of Industrial Science the University of Tokyo 4-6-1 Komaba Meguro-ku Tokyo 153-8505 Japan Department of Computer Science Faculty of Science Prince of Songkla University

This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.

关键词： underwater obstacle avoidance real-time pathre-planning A* algorithm sonar image unmanned surface vehicle

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