Path Planning for the Autonomous Underwater Vehicle

  • Andrey Kirsanov
  • Sreenatha G. Anavatti
  • Tapabrata Ray
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8298)


This paper introduces a novel method to find the optimal path for Autonomous Underwater Vehicles (AUVs). AUVs have gained importance over the last few years as service and research tools in a variety of applications. Path planning is one of the challenging tasks when dynamic obstacles are encountered. The Dijkstra’s algorithm is modified suitably to account for static as well as dynamic obstacles by adding an Additional Part (AP). In addition, the proposed algorithm takes into account the dynamics of the water flow and corrects the path suitably. Only two-dimensional routes are considered in the applications. The numerical results show that the proposed algorithm is effective in finding optimal paths.


Autonomous Underwater Vehicle path planning collision avoidance Dijkstra’s algorithm Graph theory 


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Andrey Kirsanov
    • 1
  • Sreenatha G. Anavatti
    • 1
  • Tapabrata Ray
    • 1
  1. 1.School of Engineering and Information TechnologyUniversity of New South WalesCanberraAustralia

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