Abstract
Path planning is one of the most important navigation schemes of any autonomous robot. The time complexity of the algorithm and the length of the path generated determine the quality of the algorithm. Hence it is necessary to select a proper algorithm for better path planning of a robot. This chapter provides a survey of the global path planning methods for Autonomous Underwater Robots (AUR). The algorithms are developed in C++ language and the generated paths are shown using MATLAB environment. In order to analyze the efficiency of the algorithm for global path planning various mazes and conditions are considered. The time complexity by means of the number of clock cycles taken for the completion of the program execution is calculated for each algorithm. The various algorithms and the simulations results are presented in detail.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J.C. Latombe, Robot Motion Planning (Kluwer Academic, Norwell, 1991)
O. Hachour, Path planning of autonomous mobile robots. Int. J. Syst. Appl. Eng. Dev. 2(4), 178–190 (2008)
M.G. Park, M.C. Lee, A new technique to escape local minimum in artificial potential field based path planning. KSME Int. J. 17, 1876–1885 (2003)
Cormen, T.H., Leiserson, C.E., Rivest, R.L.: Introduction to algorithms. McGraw-Hill Book Company, Boston (1990)
F. Belkhouche, Reactive path planning in a dynamic environment. IEEE Trans. Robotics 25(4), 902–911 (2009)
K.S. Al-Sultan, M.D. Aliyu, A new potential field based algorithm for path planning. J. Intell. Robot. Syst. 17, 265–282 (1996)
P. Raja, S. Pugazhenthi, Optimal path planning of mobile robots: a review. Int. J. Phys. 7(9), 1314–1320 (2012)
D. Henrich, Fast motion planning by parallel processing—a review. J. Intell. Robot. Syst. 20(1), 45–69 (1991)
S.M. LaValle, Planning Algorithms (Cambridge University Press, New York, 2006)
T. Lozano-Perez, A simple motion-planning algorithm for general robot manipulators. IEEE Trans. Robotics Autom. 3(3), 224–237 (1987)
K. Fujimaru, H. Samet, A hierarchical strategy for path planning among moving obstacles. IEEE Trans. Robotics Autom. 5(1), 61–69 (1989)
T. Lozano-Perez, M.A. Wesley, An algorithm for planning collision-free paths among polyhedral obstacles. Commun. ACM 22(10), 560–570 (1979)
Lee, L.F.: Decentralized motion planning within an artificial potential framework (APF) for cooperative payload transport by multi-robot collectives. Master’s Thesis, State University of New York at Buffalo, Buffalo, New York, 2004
F.A. Cosio, M.A.P. Castaneda, Autonomous robot navigation using adaptive potential fields. Math. Comp. Modell. 40, 1141–1156 (2004)
Fu-guang, D., Peng, J., Xin-qian, B., Hong-jian, W.: AUV local path planning based on virtual potential field. In: IEEE International Conference on Mechatronics and Automation, pp. 1711–1716 (2005)
E. Rimon, D.E. Koditschek, Exact robot navigation using artificial potential functions. IEEE Trans. Robot. Autom. 8(5), 501–518 (1992)
Acknowledgments
The authors express their sincere thanks to Dr. T. Asokan, Associate professor, Department of Engineering Design, Indian Institute of Technology Madras, Chennai, India for his valuable suggestions and support.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Konda, D., Bhoopanam, K., Subramanian, S. (2014). A Review of Global Path Planning Algorithms for Planar Navigation of Autonomous Underwater Robots. In: Patnaik, S., Zhong, B. (eds) Soft Computing Techniques in Engineering Applications. Studies in Computational Intelligence, vol 543. Springer, Cham. https://doi.org/10.1007/978-3-319-04693-8_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-04693-8_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04692-1
Online ISBN: 978-3-319-04693-8
eBook Packages: EngineeringEngineering (R0)