Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles

The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Sergey Ulyanov, Igor Bychkov, Nikolay Maksimkin
Format:	Article
Language:	English
Published:	MDPI AG 2020-11-01
Subjects:	autonomous underwater vehicle real-time path-planning path-following discrete-event system Dubins path forward-looking sonar
Online Access:	https://www.mdpi.com/2076-3417/10/21/7894