Open Access

ARTICLE

AUV Global Security Path Planning Based on a Potential Field Bio-Inspired Neural Network in Underwater Environment

by Xiang Cao^1,2,*, Ling Chen¹, Liqiang Guo³, Wei Han⁴

1 School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huai’an, 223300, China
2 School of Automation, Southeast University, Nanjing, 210096, China
3 School of Computer Science and Technology, Huaiyin Normal University, Huai’an, 223300, China
4 State Grid Jiangsu Electric Power Co., Ltd., Huai’an Power Supply Branch, Huai’an, 223001, China

* Corresponding Author: Xiang Cao. Email:

Intelligent Automation & Soft Computing 2021, 27(2), 391-407. https://doi.org/10.32604/iasc.2021.01002

Received 02 October 2020; Accepted 06 November 2020; Issue published 18 January 2021

Abstract

As one of the classical problems in autonomous underwater vehicle (AUV) research, path planning has obtained a lot of research results. Many studies have focused on planning an optimal path for AUVs. These optimal paths are sometimes too close to obstacles. In the real environment, it is difficult for AUVs to avoid obstacles according to such an optimal path. To solve the safety problem of AUV path planning in a dynamic uncertain environment, an algorithm combining a bio-inspired neural network and potential field is proposed. Based on the environmental information, the bio-inspired neural network plans the optimal path for the AUV. The potential field function adjusts the path planned by the bio-inspired neural network so that the actual AUV can avoid obstacles. The proposed approach for AUV path planning with safety consideration is capable of planning a real-time “comfortable” trajectory by overcoming either “too close” or “too far” shortcomings. Simulation and experimental results show that the proposed algorithm considers both AUV security and path rationality. The planned path can meet the need for collision-free navigation of AUVs in a dynamic, uncertain environment.

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Citations