Cyl-IRRT: Homotopy Optimal 3D Path Planning for AUVs by Biasing the Sampling Into a Cylindrical Informed Subset
In a complex 3-D environment, efficiently and safely reaching the target position is of great significance for autonomous underwater vehicles. This article proposes a cylinder-based informed rapid exploration random tree (Cyl-iRRT*) algorithm, which seeks to find the homotopy optimal path by focusin...
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| Vydáno v: | IEEE transactions on industrial electronics (1982) Ročník 70; číslo 4; s. 3985 - 3994 |
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| Hlavní autoři: | , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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New York
IEEE
01.04.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 0278-0046, 1557-9948 |
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| Abstract | In a complex 3-D environment, efficiently and safely reaching the target position is of great significance for autonomous underwater vehicles. This article proposes a cylinder-based informed rapid exploration random tree (Cyl-iRRT*) algorithm, which seeks to find the homotopy optimal path by focusing the search space on the designed gradually shrinking cylinder. The proportional shrinkage method and obstacle-based sampling strategy are presented to yield a fast convergence response and robust stability. Furthermore, the probabilistic completeness and homotopic optimality of Cyl-iRRT* are proven to be effective. Finally, both simulation and real-world experimental results reveal the superiorities of the Cyl-iRRT* algorithm. |
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| AbstractList | In a complex 3-D environment, efficiently and safely reaching the target position is of great significance for autonomous underwater vehicles. This article proposes a cylinder-based informed rapid exploration random tree (Cyl-iRRT*) algorithm, which seeks to find the homotopy optimal path by focusing the search space on the designed gradually shrinking cylinder. The proportional shrinkage method and obstacle-based sampling strategy are presented to yield a fast convergence response and robust stability. Furthermore, the probabilistic completeness and homotopic optimality of Cyl-iRRT* are proven to be effective. Finally, both simulation and real-world experimental results reveal the superiorities of the Cyl-iRRT* algorithm. |
| Author | Yu, Fujie Chen, Yuan |
| Author_xml | – sequence: 1 givenname: Fujie orcidid: 0000-0002-3779-820X surname: Yu fullname: Yu, Fujie email: 201936599@mail.sdu.edu.cn organization: Department of Mechanical, Electrical and Information Engineering, University of Shandong University, Weihai, China – sequence: 2 givenname: Yuan orcidid: 0000-0003-1611-1023 surname: Chen fullname: Chen, Yuan email: cyzghysy@sdu.edu.cn organization: Department of Mechanical, Electrical and Information Engineering, University of Shandong University, Weihai, China |
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| Cites_doi | 10.1109/TMECH.2018.2821767 10.1109/JAS.2021.1004252 10.1109/LRA.2021.3092267 10.1109/TASE.2016.2638208 10.1109/TRO.2018.2830331 10.5772/56718 10.1109/TASE.2020.2976560 10.1109/ICRA.2018.8460186 10.1109/ROBOT.2000.844730 10.1109/MRA.2014.2385561 10.1109/TIE.2019.2962425 10.1109/IROS.2003.1248805 10.1109/TIE.2016.2613507 10.1109/TASE.2019.2957782 10.1109/TIE.2020.2998740 10.1109/TIE.2014.2363632 10.1109/TIE.2017.2677331 10.1109/IROS.2011.6095077 10.1109/TRO.2013.2240176 10.1177/02783640122067453 10.1177/0278364919890396 10.1177/0278364915577958 10.1177/0278364911406761 |
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| SubjectTerms | Algorithms Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Cylinders optimal path planning Optimization Path planning Planning Probabilistic logic rapidly exploring random tree (RRT) Sampling sampling-based algorithms Search problems Task analysis Three-dimensional displays Trajectory |
| Title | Cyl-IRRT: Homotopy Optimal 3D Path Planning for AUVs by Biasing the Sampling Into a Cylindrical Informed Subset |
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