Collision Avoidance Strategy For Unmanned Underwater Vehicles Using Cubic Bézier Spirals
Proença, L.A.1; Simas, H.1; Martins, D.1
1 UFSC
doi:10.20906/CPS/COB-2015-1604
Resumo
The oceans are of great economic importance for they are source of energetic resources (oil and gas); they are used for transportation of goods and passengers, and for allowing intercontinental communication through underwater cables. The hazards and costs associated with oceanic operations are very high, which makes attractive the research and development of Unmanned Underwater Vehicles (UUVs) increasingly more autonomous, safe and reliable Adverse situations occur when obstacles are detected in the UUV trajectory, thus adequate path planning and collision avoidance are directly related to the success of UUV missions. The subject of this work is collision avoidance with unmapped obstacles for UUVs. The proposed strategy for collision avoidance uses cubic Bézier spirals in order to generate a path that satisfies the kinematic constraints of the UUV.
Palavras-chave: Obstacle avoidance; Unmanned Underwater vehicles; Path planning; Bézier spirals