Path planning and obstacle avoidance control of UUV based on an enhanced A algorithm and MPC in dynamic environment
Addressing the challenges of suboptimal path planning and insufficient dynamic obstacle avoidance for Unmanned Underwater Vehicles (UUVs), this paper presents a composite strategy that merges an enhanced A* path planning algorithm with Model Predictive Control (MPC). This dual-faceted approach synth...
Gespeichert in:
| Veröffentlicht in: | Ocean engineering Jg. 302; S. 117584 |
|---|---|
| Hauptverfasser: | , , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Elsevier Ltd
15.06.2024
|
| Schlagworte: | |
| ISSN: | 0029-8018, 1873-5258 |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Abstract | Addressing the challenges of suboptimal path planning and insufficient dynamic obstacle avoidance for Unmanned Underwater Vehicles (UUVs), this paper presents a composite strategy that merges an enhanced A* path planning algorithm with Model Predictive Control (MPC). This dual-faceted approach synthesizes path planning and trajectory tracking control. Firstly, the six-degree-of-freedom kinematic and dynamic model of the UUV is established based on the modeling method of underwater vehicles. Secondly, an enhanced A* algorithm is implemented to generate an optimal reference path for the UUV within a three-dimensional environment. Subsequently, MPC is employed for trajectory tracking control. When encountering unforeseen dynamic obstacles on the reference path, the system initiates a real-time dynamic re-planning process, modifying the trajectory to circumvent obstacles while optimizing the objective function to guarantee the UUV's safe passage and accurate arrival at the intended destination. The simulation results prove the efficacy of this integrated method, demonstrating notable enhancements in the UUV's capacity for dynamic obstacle avoidance and the execution of real-time path planning.
•An enhanced A* algorithm is used to generate the optimal reference path for the UUV in a three-dimensional environment.•A method combining enhanced A* and Model Predictive Control (MPC) is proposed for trajectory tracking control.•Dynamic re-planning and safe obstacle avoidance are achieved in a dynamic environment. |
|---|---|
| AbstractList | Addressing the challenges of suboptimal path planning and insufficient dynamic obstacle avoidance for Unmanned Underwater Vehicles (UUVs), this paper presents a composite strategy that merges an enhanced A* path planning algorithm with Model Predictive Control (MPC). This dual-faceted approach synthesizes path planning and trajectory tracking control. Firstly, the six-degree-of-freedom kinematic and dynamic model of the UUV is established based on the modeling method of underwater vehicles. Secondly, an enhanced A* algorithm is implemented to generate an optimal reference path for the UUV within a three-dimensional environment. Subsequently, MPC is employed for trajectory tracking control. When encountering unforeseen dynamic obstacles on the reference path, the system initiates a real-time dynamic re-planning process, modifying the trajectory to circumvent obstacles while optimizing the objective function to guarantee the UUV's safe passage and accurate arrival at the intended destination. The simulation results prove the efficacy of this integrated method, demonstrating notable enhancements in the UUV's capacity for dynamic obstacle avoidance and the execution of real-time path planning.
•An enhanced A* algorithm is used to generate the optimal reference path for the UUV in a three-dimensional environment.•A method combining enhanced A* and Model Predictive Control (MPC) is proposed for trajectory tracking control.•Dynamic re-planning and safe obstacle avoidance are achieved in a dynamic environment. |
| ArticleNumber | 117584 |
| Author | Li, Xiaohong Yan, Yan Gao, Xiao-zhi Yu, Shuanghe Zhao, Ying |
| Author_xml | – sequence: 1 givenname: Xiaohong orcidid: 0000-0001-5159-3991 surname: Li fullname: Li, Xiaohong organization: College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China – sequence: 2 givenname: Shuanghe surname: Yu fullname: Yu, Shuanghe email: shuanghe@dlmu.edu.cn organization: College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China – sequence: 3 givenname: Xiao-zhi surname: Gao fullname: Gao, Xiao-zhi organization: School of Computing, University of Eastern Finland, Kuopio, Finland – sequence: 4 givenname: Yan surname: Yan fullname: Yan, Yan organization: College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China – sequence: 5 givenname: Ying surname: Zhao fullname: Zhao, Ying organization: College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China |
| BookMark | eNqFkM1qAjEUhUOxUG37CiUvMDaZn5iBLirSP7DURe02XDM3GhkTSYLg23emtptuXFzu5jsHzjciA-cdEnLH2ZgzLu63Y68RHLr1OGd5OeZ8Usnyggy5nBRZlVdyQIaM5XUmGZdXZBTjljEmBCuGJC4gbei-BeesW1NwDfWrmEC3SOHgbQNOI9XepeBb6g1dLr_oCiJ2nOtwim7TIw2dUmjXPti02f3UvC9m1DraHB3srO64gw3e7dClG3JpoI14-_uvyfL56XP2ms0_Xt5m03mmC56nrKl43Z02Ja9QliAMK41gHOqqFrIUUjTG1DyvBbLCTIwU2ohVB_MJ5hp0cU0eTr06-BgDGqVtgmT7MWBbxZnqBaqt-hOoeoHqJLCLi3_xfbA7CMfzwcdTELtxB4tBRW2xl2QD6qQab89VfANl5ZGW |
| CitedBy_id | crossref_primary_10_1007_s10489_025_06694_w crossref_primary_10_3390_s25082579 crossref_primary_10_2478_pomr_2024_0057 crossref_primary_10_1016_j_jobe_2025_113345 crossref_primary_10_1016_j_oceaneng_2025_121617 crossref_primary_10_1109_ACCESS_2025_3561348 crossref_primary_10_3390_drones9060411 crossref_primary_10_3390_drones9040273 crossref_primary_10_1016_j_oceaneng_2025_122137 crossref_primary_10_1016_j_oceaneng_2025_122712 crossref_primary_10_1080_17445302_2024_2404072 crossref_primary_10_3390_jmse12122118 crossref_primary_10_1016_j_oceaneng_2025_121234 crossref_primary_10_3390_biomimetics9090552 crossref_primary_10_1016_j_eswa_2025_128388 |
| Cites_doi | 10.1109/TVT.2019.2955020 10.1016/j.oceaneng.2019.106309 10.1016/j.oceaneng.2022.111870 10.1016/j.arcontrol.2012.09.008 10.1109/JOE.2020.2986593 10.1109/JOE.2019.2919860 10.1016/j.oceaneng.2023.114610 10.1016/j.oceaneng.2020.107884 10.1016/j.oceaneng.2023.114005 10.1007/s00773-022-00879-5 10.1016/j.oceaneng.2024.116850 10.11834/jig.20000709 10.1631/FITEE.1800562 10.1007/s11804-009-8002-7 10.1109/JOE.2015.2503498 |
| ContentType | Journal Article |
| Copyright | 2024 Elsevier Ltd |
| Copyright_xml | – notice: 2024 Elsevier Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.oceaneng.2024.117584 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Oceanography |
| EISSN | 1873-5258 |
| ExternalDocumentID | 10_1016_j_oceaneng_2024_117584 S0029801824009211 |
| GroupedDBID | --K --M -~X .DC .~1 0R~ 123 1B1 1~. 1~5 4.4 457 4G. 5VS 7-5 71M 8P~ 9JM 9JN AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAXUO ABFYP ABJNI ABLST ABMAC ACDAQ ACGFS ACRLP ADBBV ADEZE ADTZH AEBSH AECPX AEKER AENEX AFKWA AFTJW AFXIZ AGHFR AGUBO AGYEJ AHEUO AHHHB AHJVU AIEXJ AIKHN AITUG AJOXV AKIFW AKRWK ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AXJTR BJAXD BKOJK BLECG BLXMC CS3 DU5 EBS EFJIC EO8 EO9 EP2 EP3 FDB FIRID FNPLU FYGXN G-Q GBLVA IHE J1W JJJVA KCYFY KOM LY6 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 RIG ROL RPZ SDF SDG SES SEW SPC SPCBC SSJ SST SSZ T5K TAE TN5 XPP ZMT ~02 ~G- 29N 6TJ 9DU AAQXK AATTM AAXKI AAYWO AAYXX ABFNM ABWVN ABXDB ACKIV ACLOT ACNNM ACRPL ACVFH ADCNI ADMUD ADNMO AEIPS AEUPX AFFNX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKYEP ANKPU APXCP ASPBG AVWKF AZFZN CITATION EFKBS EFLBG EJD FEDTE FGOYB G-2 HVGLF HZ~ R2- SAC SET WUQ ~HD |
| ID | FETCH-LOGICAL-c312t-d519d51cf415e84a6f04f601a959684686dff91296e03f7f86cf6b41517e2cac3 |
| ISICitedReferencesCount | 21 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001251421100001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0029-8018 |
| IngestDate | Tue Nov 18 21:40:54 EST 2025 Sat Nov 29 03:32:55 EST 2025 Sat Jun 01 15:41:37 EDT 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Enhanced a algorithm MPC Obstacle avoidance Dynamic path planning UUV |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c312t-d519d51cf415e84a6f04f601a959684686dff91296e03f7f86cf6b41517e2cac3 |
| ORCID | 0000-0001-5159-3991 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_oceaneng_2024_117584 crossref_primary_10_1016_j_oceaneng_2024_117584 elsevier_sciencedirect_doi_10_1016_j_oceaneng_2024_117584 |
| PublicationCentury | 2000 |
| PublicationDate | 2024-06-15 |
| PublicationDateYYYYMMDD | 2024-06-15 |
| PublicationDate_xml | – month: 06 year: 2024 text: 2024-06-15 day: 15 |
| PublicationDecade | 2020 |
| PublicationTitle | Ocean engineering |
| PublicationYear | 2024 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Shen, Shi, Buckham (bib19) 2015 Zhu, Li, Guo, Yuan, Bai (bib39) 2024; 294 Zhao, Meng (bib35) 2008; S1 Wang, Yan, Wang, Ge, Zhu, Yang (bib25) 2022; 261 Garau, Alvarez, Oliver (bib9) 2005; 1–4 Xue, Wu, Yamashita, Li (bib28) 2023; 273 Wang, Meng, Ning (bib24) 2012 Zhu, Zhang, Liu (bib37) 2022; 27 Campbell, Naeem, Irwin (bib3) 2012; 36 Chen (bib4) 2020; 12 Mcmahon, Plaku (bib16) 2016; 41 Sun, Ran, Zhang (bib20) 2020; 41 Thanh, Tam, Anh (bib22) 2021; 228 Wang, Xiong (bib23) 2009; 8 Zhang (bib32) 2018; 28 Boyd, Vandenberghe (bib2) 2004 Li, Wu, Huang, Yuan (bib14) 2021; 113 Guo, Zhang (bib10) 2020; 69 Saback, Conceicao, Santos, Albiez, Reis (bib18) 2020; 45 Yu, She, Ouyang (bib31) 2018; 41 Ni, Wu, Shi (bib17) 2017 Fossen (bib7) 2022 Yao, Wang (bib30) 2020; 46 Sun, Wang, Wu, Ran (bib21) 2020; 42 Cheng, Zhang, Li (bib5) 2019; 55 Zhang, Liu, Luo (bib33) 2019; 189 Zhu, Qu, Yang (bib36) 2019; 20 Xiao, Ding, Peng (bib27) 2000; 5 Zhu, Bai, Guo (bib38) 2023; 273 Fossen (bib6) 2011 Wang, Zhao, Zhang, Li (bib26) 2022; 266 Game (bib8) 2021 Boehm, Berkenpas, Shepard (bib1) 2020; 46 Kim, Oh (bib12) 2015; 40 Zhang, Xu, Hou (bib34) 2020; 42 Khan, Khan, Turgut (bib11) 2016 Lin, Yuan (bib15) 2017 Yan, Gong (bib29) 2020; 217 Li, Yu (bib13) 2023; 280 Zhu (10.1016/j.oceaneng.2024.117584_bib39) 2024; 294 Boyd (10.1016/j.oceaneng.2024.117584_bib2) 2004 Cheng (10.1016/j.oceaneng.2024.117584_bib5) 2019; 55 Li (10.1016/j.oceaneng.2024.117584_bib13) 2023; 280 Wang (10.1016/j.oceaneng.2024.117584_bib25) 2022; 261 Li (10.1016/j.oceaneng.2024.117584_bib14) 2021; 113 Xiao (10.1016/j.oceaneng.2024.117584_bib27) 2000; 5 Xue (10.1016/j.oceaneng.2024.117584_bib28) 2023; 273 Zhu (10.1016/j.oceaneng.2024.117584_bib37) 2022; 27 Game (10.1016/j.oceaneng.2024.117584_bib8) 2021 Wang (10.1016/j.oceaneng.2024.117584_bib26) 2022; 266 Garau (10.1016/j.oceaneng.2024.117584_bib9) 2005; 1–4 Zhu (10.1016/j.oceaneng.2024.117584_bib38) 2023; 273 Lin (10.1016/j.oceaneng.2024.117584_bib15) 2017 Ni (10.1016/j.oceaneng.2024.117584_bib17) 2017 Wang (10.1016/j.oceaneng.2024.117584_bib23) 2009; 8 Zhang (10.1016/j.oceaneng.2024.117584_bib32) 2018; 28 Zhao (10.1016/j.oceaneng.2024.117584_bib35) 2008; S1 Shen (10.1016/j.oceaneng.2024.117584_bib19) 2015 Yu (10.1016/j.oceaneng.2024.117584_bib31) 2018; 41 Fossen (10.1016/j.oceaneng.2024.117584_bib7) 2022 Zhu (10.1016/j.oceaneng.2024.117584_bib36) 2019; 20 Thanh (10.1016/j.oceaneng.2024.117584_bib22) 2021; 228 Sun (10.1016/j.oceaneng.2024.117584_bib20) 2020; 41 Saback (10.1016/j.oceaneng.2024.117584_bib18) 2020; 45 Yao (10.1016/j.oceaneng.2024.117584_bib30) 2020; 46 Guo (10.1016/j.oceaneng.2024.117584_bib10) 2020; 69 Campbell (10.1016/j.oceaneng.2024.117584_bib3) 2012; 36 Fossen (10.1016/j.oceaneng.2024.117584_bib6) 2011 Zhang (10.1016/j.oceaneng.2024.117584_bib33) 2019; 189 Yan (10.1016/j.oceaneng.2024.117584_bib29) 2020; 217 Boehm (10.1016/j.oceaneng.2024.117584_bib1) 2020; 46 Chen (10.1016/j.oceaneng.2024.117584_bib4) 2020; 12 Khan (10.1016/j.oceaneng.2024.117584_bib11) 2016 Kim (10.1016/j.oceaneng.2024.117584_bib12) 2015; 40 Zhang (10.1016/j.oceaneng.2024.117584_bib34) 2020; 42 Mcmahon (10.1016/j.oceaneng.2024.117584_bib16) 2016; 41 Sun (10.1016/j.oceaneng.2024.117584_bib21) 2020; 42 Wang (10.1016/j.oceaneng.2024.117584_bib24) 2012 |
| References_xml | – volume: 189 year: 2019 ident: bib33 article-title: MPC-based 3-D trajectory tracking for an autonomous underwater vehicle with constraints in complex ocean environments publication-title: Ocean Eng – volume: 228 year: 2021 ident: bib22 article-title: A new approach for three-dimensional trajectory tracking control of under-actuated AUVs with model uncertainties publication-title: Ocean Eng – start-page: 157 year: 2012 end-page: 160 ident: bib24 article-title: Path Planning Based on Hybrid Adaptive Ant Colony Algorithm for AUV – start-page: 1 year: 2017 end-page: 16 ident: bib17 article-title: A dynamic bioinspired neural network based real-time path planning method for autonomous underwater vehicles publication-title: Computer Intel. and Neurons – volume: 217 year: 2020 ident: bib29 article-title: Model predictive control of autonomous underwater vehicles for trajectory tracking with external disturbances publication-title: Ocean Eng – volume: 12 start-page: 2907 year: 2020 end-page: 2914 ident: bib4 article-title: Convex optimization and A-star algorithm combined path planning and obstacle avoidance algorithm publication-title: J. Control. Decis. – volume: 45 start-page: 799 year: 2020 end-page: 812 ident: bib18 article-title: Nonlinear model predictive control applied to an autonomous underwater vehicle publication-title: IEEE J. Ocean. Eng. – volume: 41 start-page: 1 year: 2016 end-page: 20 ident: bib16 article-title: Mission and motion planning for autonomous underwater vehicles operating in spatially and temporally complex environments publication-title: IEEE J. Ocean. Eng. – volume: 41 start-page: 101 year: 2018 end-page: 105 ident: bib31 article-title: Path planning of unmanned surface vehicle based on variable mesh improved genetic algorithm publication-title: Navi. of China – volume: 1–4 start-page: 194 year: 2005 end-page: 198 ident: bib9 article-title: Path planning of autonomous underwater vehicles in current fields with complex spatial variability: an A* approach publication-title: IEEE ICRA 2005 – volume: 36 start-page: 267 year: 2012 end-page: 283 ident: bib3 article-title: A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance maneuvers publication-title: Annu. Rev. Control – volume: 273 year: 2023 ident: bib28 article-title: Proximal policy optimization with reciprocal velocity obstacle-based collision avoidance path planning for multi-unmanned surface vehicles publication-title: Ocean Eng – volume: 42 start-page: 86 year: 2020 end-page: 91 ident: bib34 article-title: AUV space trackway-point following control based on MPC publication-title: Ship Sci. and Tec. – volume: S1 start-page: 196 year: 2008 end-page: 198 ident: bib35 publication-title: Path Planning of Service Mobile Robot Based on Adding-Weight A* Algorithm – start-page: 475 year: 2015 end-page: 480 ident: bib19 article-title: Model predictive control for an AUV with dynamic path planning publication-title: 2 – volume: 27 start-page: 840 year: 2022 end-page: 855 ident: bib37 article-title: Tracking controller based on model prediction control for remotely operated vehicle for thruster fault publication-title: J. Mar. Sci. and Tech-JAPAN – volume: 42 start-page: 1 year: 2020 end-page: 7 ident: bib21 article-title: A general overview of path planning methods for autonomous underwater vehicle publication-title: Ship Sci. and Tec. – volume: 5 start-page: 585 year: 2000 end-page: 588 ident: bib27 article-title: ICP-Based B-spline curve fitting publication-title: J. Imag. Graph.: A – volume: 46 start-page: 1053 year: 2020 end-page: 1062 ident: bib30 article-title: Path following and obstacle avoidance control of AUV based on MPC guidance law publication-title: J. Beijing University of Aero. and Astro. – start-page: 3570 year: 2017 end-page: 3576 ident: bib15 article-title: Path Planning of Mobile Robot Based on Improved A∗ Algorithm – year: 2021 ident: bib8 article-title: Pro: “Collected Wisdom of Game AI Professionals- Pathfinding Architecture Optimizations – volume: 69 start-page: 302 year: 2020 end-page: 316 ident: bib10 article-title: Asymptotic stabilization of USVs with actuator dead-zones and yaw constraints based on fixed-time disturbance observer publication-title: IEEE Trans. Veh. Technol. – volume: 28 start-page: 78 year: 2018 end-page: 83 ident: bib32 article-title: Smoothing trajectory planning for palletizing robots based on cubic spline curve publication-title: High Technol. Lett. – volume: 46 start-page: 389 year: 2020 end-page: 401 ident: bib1 article-title: Tracking performance of model-Based thruster control of a remotely operated underwater vehicle publication-title: IEEE J. Ocean. Eng. – volume: 20 start-page: 330 year: 2019 end-page: 341 ident: bib36 article-title: Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment publication-title: Front. Inform. Tech. El. – year: 2004 ident: bib2 article-title: Convex Optimization – volume: 55 start-page: 29 year: 2019 end-page: 34 ident: bib5 article-title: Mobile robots path planning based on improved artificial potential field publication-title: Computer Eng. and App. – year: 2022 ident: bib7 article-title: Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs, and Underwater Vehicles – volume: 41 start-page: 1111 year: 2020 end-page: 1116 ident: bib20 article-title: Research status and prospect of path planning for autonomous underwater vehicles publication-title: J. Harbin Engineering University – volume: 266 year: 2022 ident: bib26 article-title: A novel motion planning algorithm for a three DoF foldable parallel compensation platform based on prediction and B-spline publication-title: Ocean Eng – volume: 261 year: 2022 ident: bib25 article-title: Adaptive MPC trajectory tracking for AUV based on Laguerre function publication-title: Ocean Eng – volume: 40 start-page: 82 year: 2015 end-page: 90 ident: bib12 article-title: Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment publication-title: Aut. Robots – start-page: 1 year: 2016 end-page: 5 ident: bib11 article-title: Optimizing resurfacing schedules to maximize value of information in UWSNs publication-title: IEEE – volume: 280 year: 2023 ident: bib13 article-title: Three-dimensional path planning for AUVs in ocean currents environment based on an improved compression factor particle swarm optimization algorithm publication-title: Ocean Eng – volume: 273 year: 2023 ident: bib38 article-title: Cooperative target substitution tracking control of multiple unmanned surface vehicles with substitute USVs publication-title: Ocean Engineering – volume: 294 year: 2024 ident: bib39 article-title: Formation control of UAV-USV based on distributed event-triggered adaptive MPC with virtual trajectory restriction publication-title: Ocean Engineering – year: 2011 ident: bib6 article-title: Handbook of Marine Craft Hydrodynamics and Motion Control – volume: 8 start-page: 58 year: 2009 end-page: 64 ident: bib23 article-title: Research on global path planning based on ant colony optimization for AUV publication-title: J. Mar. Sci. Appl. – volume: 113 year: 2021 ident: bib14 article-title: A path planning strategy unified with a COLREGS collision avoidance function based on deep reinforcement learning and artificial potential field publication-title: Appl. Ocean Res. – volume: 69 start-page: 302 issue: 1 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib10 article-title: Asymptotic stabilization of USVs with actuator dead-zones and yaw constraints based on fixed-time disturbance observer publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2019.2955020 – volume: 189 year: 2019 ident: 10.1016/j.oceaneng.2024.117584_bib33 article-title: MPC-based 3-D trajectory tracking for an autonomous underwater vehicle with constraints in complex ocean environments publication-title: Ocean Eng doi: 10.1016/j.oceaneng.2019.106309 – volume: 261 year: 2022 ident: 10.1016/j.oceaneng.2024.117584_bib25 article-title: Adaptive MPC trajectory tracking for AUV based on Laguerre function publication-title: Ocean Eng doi: 10.1016/j.oceaneng.2022.111870 – volume: 273 issue: April 1 year: 2023 ident: 10.1016/j.oceaneng.2024.117584_bib38 article-title: Cooperative target substitution tracking control of multiple unmanned surface vehicles with substitute USVs publication-title: Ocean Engineering – start-page: 157 year: 2012 ident: 10.1016/j.oceaneng.2024.117584_bib24 – volume: 46 start-page: 1053 issue: 6 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib30 article-title: Path following and obstacle avoidance control of AUV based on MPC guidance law publication-title: J. Beijing University of Aero. and Astro. – volume: 113 issue: 27 year: 2021 ident: 10.1016/j.oceaneng.2024.117584_bib14 article-title: A path planning strategy unified with a COLREGS collision avoidance function based on deep reinforcement learning and artificial potential field publication-title: Appl. Ocean Res. – start-page: 1 year: 2016 ident: 10.1016/j.oceaneng.2024.117584_bib11 article-title: Optimizing resurfacing schedules to maximize value of information in UWSNs – volume: 36 start-page: 267 issue: 2 year: 2012 ident: 10.1016/j.oceaneng.2024.117584_bib3 article-title: A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance maneuvers publication-title: Annu. Rev. Control doi: 10.1016/j.arcontrol.2012.09.008 – volume: 12 start-page: 2907 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib4 article-title: Convex optimization and A-star algorithm combined path planning and obstacle avoidance algorithm publication-title: J. Control. Decis. – volume: 46 start-page: 389 issue: 2 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib1 article-title: Tracking performance of model-Based thruster control of a remotely operated underwater vehicle publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2020.2986593 – volume: 45 start-page: 799 issue: 3 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib18 article-title: Nonlinear model predictive control applied to an autonomous underwater vehicle publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2019.2919860 – year: 2004 ident: 10.1016/j.oceaneng.2024.117584_bib2 – year: 2011 ident: 10.1016/j.oceaneng.2024.117584_bib6 – volume: 280 year: 2023 ident: 10.1016/j.oceaneng.2024.117584_bib13 article-title: Three-dimensional path planning for AUVs in ocean currents environment based on an improved compression factor particle swarm optimization algorithm publication-title: Ocean Eng doi: 10.1016/j.oceaneng.2023.114610 – volume: 28 start-page: 78 issue: 1 year: 2018 ident: 10.1016/j.oceaneng.2024.117584_bib32 article-title: Smoothing trajectory planning for palletizing robots based on cubic spline curve publication-title: High Technol. Lett. – volume: 217 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib29 article-title: Model predictive control of autonomous underwater vehicles for trajectory tracking with external disturbances publication-title: Ocean Eng doi: 10.1016/j.oceaneng.2020.107884 – start-page: 3570 year: 2017 ident: 10.1016/j.oceaneng.2024.117584_bib15 – volume: 55 start-page: 29 issue: 23 year: 2019 ident: 10.1016/j.oceaneng.2024.117584_bib5 article-title: Mobile robots path planning based on improved artificial potential field publication-title: Computer Eng. and App. – volume: 273 year: 2023 ident: 10.1016/j.oceaneng.2024.117584_bib28 article-title: Proximal policy optimization with reciprocal velocity obstacle-based collision avoidance path planning for multi-unmanned surface vehicles publication-title: Ocean Eng doi: 10.1016/j.oceaneng.2023.114005 – volume: 228 year: 2021 ident: 10.1016/j.oceaneng.2024.117584_bib22 article-title: A new approach for three-dimensional trajectory tracking control of under-actuated AUVs with model uncertainties publication-title: Ocean Eng – volume: S1 start-page: 196 year: 2008 ident: 10.1016/j.oceaneng.2024.117584_bib35 – volume: 42 start-page: 1 issue: 4 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib21 article-title: A general overview of path planning methods for autonomous underwater vehicle publication-title: Ship Sci. and Tec. – volume: 40 start-page: 82 issue: 8 year: 2015 ident: 10.1016/j.oceaneng.2024.117584_bib12 article-title: Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment publication-title: Aut. Robots – volume: 27 start-page: 840 year: 2022 ident: 10.1016/j.oceaneng.2024.117584_bib37 article-title: Tracking controller based on model prediction control for remotely operated vehicle for thruster fault publication-title: J. Mar. Sci. and Tech-JAPAN doi: 10.1007/s00773-022-00879-5 – volume: 42 start-page: 86 issue: 12 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib34 article-title: AUV space trackway-point following control based on MPC publication-title: Ship Sci. and Tec. – volume: 294 year: 2024 ident: 10.1016/j.oceaneng.2024.117584_bib39 article-title: Formation control of UAV-USV based on distributed event-triggered adaptive MPC with virtual trajectory restriction publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2024.116850 – volume: 5 start-page: 585 issue: 7 year: 2000 ident: 10.1016/j.oceaneng.2024.117584_bib27 article-title: ICP-Based B-spline curve fitting publication-title: J. Imag. Graph.: A doi: 10.11834/jig.20000709 – volume: 20 start-page: 330 issue: 3 year: 2019 ident: 10.1016/j.oceaneng.2024.117584_bib36 article-title: Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment publication-title: Front. Inform. Tech. El. doi: 10.1631/FITEE.1800562 – volume: 41 start-page: 101 issue: 4 year: 2018 ident: 10.1016/j.oceaneng.2024.117584_bib31 article-title: Path planning of unmanned surface vehicle based on variable mesh improved genetic algorithm publication-title: Navi. of China – volume: 8 start-page: 58 issue: 1 year: 2009 ident: 10.1016/j.oceaneng.2024.117584_bib23 article-title: Research on global path planning based on ant colony optimization for AUV publication-title: J. Mar. Sci. Appl. doi: 10.1007/s11804-009-8002-7 – volume: 1–4 start-page: 194 year: 2005 ident: 10.1016/j.oceaneng.2024.117584_bib9 article-title: Path planning of autonomous underwater vehicles in current fields with complex spatial variability: an A* approach publication-title: IEEE ICRA 2005 – start-page: 1 year: 2017 ident: 10.1016/j.oceaneng.2024.117584_bib17 article-title: A dynamic bioinspired neural network based real-time path planning method for autonomous underwater vehicles publication-title: Computer Intel. and Neurons – year: 2022 ident: 10.1016/j.oceaneng.2024.117584_bib7 – volume: 266 issue: Part 3 year: 2022 ident: 10.1016/j.oceaneng.2024.117584_bib26 article-title: A novel motion planning algorithm for a three DoF foldable parallel compensation platform based on prediction and B-spline publication-title: Ocean Eng – year: 2021 ident: 10.1016/j.oceaneng.2024.117584_bib8 – start-page: 475 year: 2015 ident: 10.1016/j.oceaneng.2024.117584_bib19 article-title: Model predictive control for an AUV with dynamic path planning – volume: 41 start-page: 1 issue: 4 year: 2016 ident: 10.1016/j.oceaneng.2024.117584_bib16 article-title: Mission and motion planning for autonomous underwater vehicles operating in spatially and temporally complex environments publication-title: IEEE J. Ocean. Eng. doi: 10.1109/JOE.2015.2503498 – volume: 41 start-page: 1111 issue: 8 year: 2020 ident: 10.1016/j.oceaneng.2024.117584_bib20 article-title: Research status and prospect of path planning for autonomous underwater vehicles publication-title: J. Harbin Engineering University |
| SSID | ssj0006603 |
| Score | 2.4907749 |
| Snippet | Addressing the challenges of suboptimal path planning and insufficient dynamic obstacle avoidance for Unmanned Underwater Vehicles (UUVs), this paper presents... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 117584 |
| SubjectTerms | Dynamic path planning Enhanced a algorithm MPC Obstacle avoidance UUV |
| Title | Path planning and obstacle avoidance control of UUV based on an enhanced A algorithm and MPC in dynamic environment |
| URI | https://dx.doi.org/10.1016/j.oceaneng.2024.117584 |
| Volume | 302 |
| WOSCitedRecordID | wos001251421100001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 customDbUrl: eissn: 1873-5258 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0006603 issn: 0029-8018 databaseCode: AIEXJ dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1LbxMxELZCygGQEBQQ5SUfuEUbtvvwro9RVV4SJYcGpaeV67W7W0XrKk2iin_Av2b8zAIVpQcOWUWWPRtnvtjfOt_MIPQ2K-KyJlo9BS6IMpnRiNE6j1KgspzmMY9zaYpNFEdH5XxOp4PBDx8Ls1kUXVdeXdGL_-pqaANn69DZW7g7GIUGeA9Ohyu4Ha7_5PgpcDpdHNrUIjL_DahToIDQa8Q2qq1NjIBXqANVnM2-jfReVo-MMHkkusaqAiYjtjhTy3bV2DIaX6YHRjtra9j3Q-T6DPcrF8ZISHMYJD9GNzBvmWrUtvVkbc5fmzXrzpoAsg9M-c7R96YNne1p7YlDtDusSDItqrLhmiF4gOpNsewvwGmc9JZQnTvUVo37Y3W3Bw3nY6VnAhMZ61uMtwN-Taf92zYXxIde13ZeeTuVtlNZO3fQTlLktByincmnw_nnsK0TEqdeL6Rn0As3v_4TXc90euzl-BF66B478MTC5TEaiG4X3e8lo9xFD4znXAbzJ-hS4wh7HGEAAPY4wgFH2OEIK4kBR9jgCKsOumOPIzzBAUfGDOAItx12OMI9HD1Fs_eHxwcfI1ehI-LpfrKKauD_8OISaKAoM0ZknEl4xGc0pwSYbUlqKSlQSiLiVBayJFySU-i8X4iEM54-Q8NOdeI5wjKVOU9EJgoJm3fGGRE6OWLMi5yJOi72UO6_zYq79PW6isqi-rs_99C7MO7CJnC5cQT1zqocDbX0sgIc3jD2xa3v9hLd2_5QXqHharkWr9Fdvlm1l8s3DoQ_AVmSrD8 |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Path+planning+and+obstacle+avoidance+control+of+UUV+based+on+an+enhanced+A+algorithm+and+MPC+in+dynamic+environment&rft.jtitle=Ocean+engineering&rft.au=Li%2C+Xiaohong&rft.au=Yu%2C+Shuanghe&rft.au=Gao%2C+Xiao-zhi&rft.au=Yan%2C+Yan&rft.date=2024-06-15&rft.issn=0029-8018&rft.volume=302&rft.spage=117584&rft_id=info:doi/10.1016%2Fj.oceaneng.2024.117584&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_oceaneng_2024_117584 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0029-8018&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0029-8018&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0029-8018&client=summon |