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Citation:
　Thanapong Phanthong,Toshihiro Maki,Tamaki Ura,et al.Application of A*Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles[J].Journal of Marine Science and Application,2014,(1):105-116.[doi:10.1007/s11804-014-1224-3]
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Application of A*Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

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Title:
Application of A*Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles
Author(s):
Thanapong Phanthong;  Toshihiro Maki2;  Tamaki Ura2;  Takashi Sakamaki and Pattara Aiyarak
Affilations:
Author(s):
Thanapong Phanthong;  Toshihiro Maki2;  Tamaki Ura2;  Takashi Sakamaki and Pattara Aiyarak
1. Department of Physics, Faculty of Science, Prince of Songkla University, Songkhla 90110, Thailand 2. Institute of Industrial Science, the University of Tokyo 4-6-1, Komaba, Meguro-ku, Tokyo 153-8505, Japan 3. Department of Computer Science, Faculty of Science, Prince of Songkla University, Songkhla 90110, Thailand
Keywords:
underwater obstacle avoidance;  real-time path re-planning;  A* algorithm;  sonar image;  unmanned surface vehicle
分类号:
-
DOI:
10.1007/s11804-014-1224-3
Abstract:
This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle (USV) based on multi-beam forward looking sonar (FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom (surge and yaw). In this paper, two-dimensional (2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System (GPS) of the USV.

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Last Update: 2014-11-04