A Novel Method of UUV Path Planning Based on Navigation Error Space

doi:10.3969/j.issn.1000-1093.2014.08.017

Abstract

Abstract: The traditional path planning of unmanned underwater vehicle (UUV) frequently ignores the navigation errors which have significant impact on the path safety. To solve the problem, a method of global path planning based on navigation error space (NES) is proposed, which introduces the navigation error into environment model. NES is built, including position, navigation error and environmental information, which translates the stochastic navigation error into deterministic constrains. The error propagation model is applied, and CEP is used to evaluate the positioning accuracy. The path length and sail safety are considered in the objective cost function. An improved A^* based algorithm is applied for searching the optimal path. Simulation experiment of marine environment show that the proposed approach is simple and fast, and path risk is decreased efficiently.

Key words: control science and technology, unmanned underwater vehicle, navigation error space, global planning, CEP

CLC Number:

YAN Zhe-ping， ZHAO Yu-fei， CHEN Tao， ZHOU Jia-jia. A Novel Method of UUV Path Planning Based on Navigation Error Space[J]. Acta Armamentarii, 2014, 35(8): 1243-1250.

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