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...

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Veröffentlicht in:	Ocean engineering Jg. 302; S. 117584
Hauptverfasser:	Li, Xiaohong, Yu, Shuanghe, Gao, Xiao-zhi, Yan, Yan, Zhao, Ying
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 15.06.2024
Schlagworte:	Dynamic path planning Enhanced a algorithm MPC Obstacle avoidance UUV Enhanced a algorithm MPC Obstacle avoidance Dynamic path planning UUV
ISSN:	0029-8018, 1873-5258
Online-Zugang:	Volltext
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