Complete Coverage Belief Function Path Planning Algorithm of Autonomous Underwater VehicleBased on Behavior Strategy

Authors

Wenyang Gan, Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai 201306, China.;
Daqi Zhu, Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai 201306, China.;

Abstract

Abstract: For the complete coverage path planning of autonomous underwater vehicle (AUV), a complete coverage belief function path planning algorithm based on behavior strategy is proposed by introducing the behavior strategy and using the concept of map belief function, which can make AUV accomplish the complete coverage and avoid obstacles automatically. The grid belief function is constructed based on environmental information, using different function values to distinguish between the obstacle, the covered and the uncovered grid. AUV selects the next navigation position by path planning strategy. Next navigation position is selected by behavior strategy if AUV navigates to the edge of obstacle. Otherwise, belief function is used to select navigation position of AUV. By simulation experiments in 2-D and 3-D environment, the algorithms mentioned in this paper is proved to be capable of accomplishing the complete coverage, decreasing the number of AUV into dead zone and reducing the overlay repetition rate.

Recommended Citation

Gan, Wenyang and Zhu, Daqi (2019) "Complete Coverage Belief Function Path Planning Algorithm of Autonomous Underwater VehicleBased on Behavior Strategy," Journal of System Simulation: Vol. 30: Iss. 5, Article 31.
DOI: 10.16182/j.issn1004731x.joss.201805031
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss5/31

First Page

1857

Revised Date

2016-10-19

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201805031

Last Page

1868

CLC

TP273

Recommended Citation

Gan Wenyang, Zhu Daqi. Complete Coverage Belief Function Path Planning Algorithm of Autonomous Underwater VehicleBased on Behavior Strategy[J]. Journal of System Simulation, 2018, 30(5): 1857-1868.

DOI

10.16182/j.issn1004731x.joss.201805031