Path planning for underwater docking based on Modified Artificial Potential Field

Peng Cui; Weisheng Yan; Xinxin Guo

doi:10.1109/ICARM.2016.7606949

Path planning for underwater docking based on Modified Artificial Potential Field

Peng Cui, Weisheng Yan, Xinxin Guo

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents a path planning approach for underwater docking in a three-dimensional environment based on a Modified Artificial Potential Field (MAPF) method. To meet the requirements of docking task, a virtual position point and a virtual attitude point are adpoted to construct the MAPF forces. The virtual position point is used to keep the vehicle approaching the docking station. The virtual attitude point is used to adjust the vehiclȩs attitude to reduce the deviation from the docking statioņs entrance. Local minima problem is also considered in this paper and a resolvement is proposed by adding an escape force. Simulation results show that in both static and dynamic environment, the docking path planning approach is suitable and efficient.

Original language	English
Title of host publication	ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	376-381
Number of pages	6
ISBN (Electronic)	9781509033645
DOIs	https://doi.org/10.1109/ICARM.2016.7606949
State	Published - 21 Oct 2016
Event	2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 - Macau, China Duration: 18 Aug 2016 → 20 Aug 2016

Publication series

Name	ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics

Conference

Conference	2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Country/Territory	China
City	Macau
Period	18/08/16 → 20/08/16

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10.1109/ICARM.2016.7606949

Cite this

Cui, P., Yan, W., & Guo, X. (2016). Path planning for underwater docking based on Modified Artificial Potential Field. In ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics (pp. 376-381). Article 7606949 (ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2016.7606949

@inproceedings{ece885c3954d4c47ab6a8a294f38046c,

title = "Path planning for underwater docking based on Modified Artificial Potential Field",

abstract = "This paper presents a path planning approach for underwater docking in a three-dimensional environment based on a Modified Artificial Potential Field (MAPF) method. To meet the requirements of docking task, a virtual position point and a virtual attitude point are adpoted to construct the MAPF forces. The virtual position point is used to keep the vehicle approaching the docking station. The virtual attitude point is used to adjust the vehiclȩs attitude to reduce the deviation from the docking statioņs entrance. Local minima problem is also considered in this paper and a resolvement is proposed by adding an escape force. Simulation results show that in both static and dynamic environment, the docking path planning approach is suitable and efficient.",

author = "Peng Cui and Weisheng Yan and Xinxin Guo",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 ; Conference date: 18-08-2016 Through 20-08-2016",

year = "2016",

month = oct,

day = "21",

doi = "10.1109/ICARM.2016.7606949",

language = "英语",

series = "ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Cui, P, Yan, W & Guo, X 2016, Path planning for underwater docking based on Modified Artificial Potential Field. in ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics., 7606949, ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 376-381, 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016, Macau, China, 18/08/16. https://doi.org/10.1109/ICARM.2016.7606949

Path planning for underwater docking based on Modified Artificial Potential Field. / Cui, Peng; Yan, Weisheng; Guo, Xinxin.
ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2016. p. 376-381 7606949 (ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Path planning for underwater docking based on Modified Artificial Potential Field

AU - Cui, Peng

AU - Yan, Weisheng

AU - Guo, Xinxin

PY - 2016/10/21

Y1 - 2016/10/21

N2 - This paper presents a path planning approach for underwater docking in a three-dimensional environment based on a Modified Artificial Potential Field (MAPF) method. To meet the requirements of docking task, a virtual position point and a virtual attitude point are adpoted to construct the MAPF forces. The virtual position point is used to keep the vehicle approaching the docking station. The virtual attitude point is used to adjust the vehiclȩs attitude to reduce the deviation from the docking statioņs entrance. Local minima problem is also considered in this paper and a resolvement is proposed by adding an escape force. Simulation results show that in both static and dynamic environment, the docking path planning approach is suitable and efficient.

AB - This paper presents a path planning approach for underwater docking in a three-dimensional environment based on a Modified Artificial Potential Field (MAPF) method. To meet the requirements of docking task, a virtual position point and a virtual attitude point are adpoted to construct the MAPF forces. The virtual position point is used to keep the vehicle approaching the docking station. The virtual attitude point is used to adjust the vehiclȩs attitude to reduce the deviation from the docking statioņs entrance. Local minima problem is also considered in this paper and a resolvement is proposed by adding an escape force. Simulation results show that in both static and dynamic environment, the docking path planning approach is suitable and efficient.

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DO - 10.1109/ICARM.2016.7606949

M3 - 会议稿件

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SP - 376

EP - 381

BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

Y2 - 18 August 2016 through 20 August 2016

ER -

Cui P, Yan W, Guo X. Path planning for underwater docking based on Modified Artificial Potential Field. In ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2016. p. 376-381. 7606949. (ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics). doi: 10.1109/ICARM.2016.7606949

Path planning for underwater docking based on Modified Artificial Potential Field

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