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arXiv · 2011.13505

Trajectory planning for multiple autonomous underwater vehicles with safety guarantees

Shuhao Zhang·Yujia Yang·Seth Siriya·Ye Pu
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Abstract

This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based on Hamilton-Jacobi differential game formulation and model predictive control is proposed to generate safety-guaranteed trajectories for AUV systems considering wave disturbance that is either time-varying state-independent or time-varying state-dependent. This approach plans safety-guaranteed trajectories for multiple AUVs and considers the shapes of AUVs, where nonlinear smooth collision avoidance constraints are obtained via strong duality.

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Shuhao Zhang, Yujia Yang, Seth Siriya, Ye Pu. 2020-11-27. Trajectory planning for multiple autonomous underwater vehicles with safety guarantees. https://arxiv.org/abs/2011.13505

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