| An Constraint Based Approach to Planning Collision-Free Navigation of Multi-AUVs with Environmental Disturbances |
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Sang-Hoon Ji, Woo-Hyun Ko, Yeun-Soo Jung, Beom-Hee Lee |
1Doosan Infracore
2Korea Institute of Industrial Technology
3Seoul National University |
| 환경 외란을 고려한 다중 자율잠수정의 제한적 기법 기반 주행 계획기 |
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지상훈, 고우현, 정연수, 이범희 |
1두산인프라코어
2한국생산기술연구원
3서울대학교 |
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| Abstract |
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This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them. |
| Key Words:
Multi-AUV, Collision-Map, Motion Planner, Environmental Disturbances |
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