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Visibility-Based Path Planning for Autonomous Underwater Vehicle

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1 Author(s)

This paper present three different methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods takes into account the dynamic constrains of the vehicle using advanced simulator of AUV. We present modified visibility graph local avoidance method for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.

Published in:

Robotics; Proceedings of ROBOTIK 2012; 7th German Conference on

Date of Conference:

21-22 May 2012