Optimal Path Planning for AUVs in Time-Varying Ocean Flows

This paper presents a new algorithm for path planning in a time-varying environment based on graphical methods. The methods presented make it possible to find an optimal path using defined requirements in a feasible time. The task of the introduced path planning algorithm using an AUV is to find a time-optimal path from a defined start position to a goal position by evasion of all static as well as dynamic obstacles in the area of operation, with consideration of the dynamic vehicle behaviour and the time-varying ocean current. An additional consideration is to show whether it is feasible to use the algorithms on-line and on-board a Webb “SLOCUM” glider AUV. The presented algorithm is equally applicable to land based or aerial mobile autonomous systems.
16th International Symposium on Unmanned Untethered Submersible Technology (UUST'09), 23-26 August 2009, Durham, New Hampshire