A Real-time Motion Planning Algorithm for AUV based on IDVD Method

LIU Guoshun; GUO Wei; LAN Yanjun; FU Yifan

doi:10.11993/j.issn.2096-3920.2025-0033

Volume 33 Issue 3

Jun 2025

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > 33(3): 473-483

LIU Guoshun, GUO Wei, LAN Yanjun, FU Yifan. A Real-time Motion Planning Algorithm for AUV based on IDVD Method[J]. Journal of Unmanned Undersea Systems, 2025, 33(3): 473-483. doi: 10.11993/j.issn.2096-3920.2025-0033

Citation:

LIU Guoshun, GUO Wei, LAN Yanjun, FU Yifan. A Real-time Motion Planning Algorithm for AUV based on IDVD Method[J]. Journal of Unmanned Undersea Systems, 2025, 33(3): 473-483. doi: 10.11993/j.issn.2096-3920.2025-0033

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A Real-time Motion Planning Algorithm for AUV based on IDVD Method

doi: 10.11993/j.issn.2096-3920.2025-0033

Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China

Received Date: 2025-02-26
Accepted Date: 2025-04-17
Rev Recd Date: 2025-03-24

Available Online: 2025-05-26

Abstract

Abstract

To enhance the intelligence of autonomous undersea vehicles(AUVs), this paper proposed a real-time motion planning algorithm based on the inverse dynamic virtual domain(IDVD) method, ensuring safe navigation in unknown environments with obstacles. In view of the limited computational resources of AUVs, a hierarchical framework was adopted to guarantee high computational efficiency for real-time planning. First, a safe global path was generated using a path planning algorithm, followed by path optimization within the sensing range of the forward-looking sonar to produce safe and feasible trajectories. Specially, for the kinematic constraints of underactuated AUVs, the hybrid A* algorithm was employed for searching safe paths based on global path search. Subsequently, a nonlinear optimization problem was formulated to enhance path smoothness and safety. The IDVD method was then applied to derive feasible velocity and acceleration trajectories of AUVs, which served as reference inputs to guide the AUVs’ navigation. Simulations and experiments on the “Stingray-II” AUV were conducted. The results validate that the proposed method is capable of efficient online trajectory planning for AUVs in unknown complex environments.
- autonomous undersea vehicle,
- motion planning,
- inverse dynamic virtual domain,
- trajectory optimization

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References(27)

References

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