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...

Full description

Saved in:

Bibliographic Details
Published in:	Ocean engineering Vol. 302; p. 117584
Main Authors:	Li, Xiaohong, Yu, Shuanghe, Gao, Xiao-zhi, Yan, Yan, Zhao, Ying
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 15.06.2024
Subjects:	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 Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!