Work

AUV Path Planning Based on the Flow Field Method and Dynamic Window Approach

Year: 2025

Type: article

Abstract: In order to improve the performance of Autonomous Underwater Vehicles (AUVs) in complex marine environments, efficient and reliable navigation strategies are deemed essential. Over the years, a variety of methods have been developed to solve the underwater vehicle path planning problem. A hybrid path planning method for AUVs operating near the water surface is proposed in this paper. The methodology combines the artificial potential field-based Flow Field Method (FFM) and the Dynamic Window Approach (DWA) to achieve efficient, collision-free navigation. Firstly, a global guidance field is generated by the FFM, which directs the AUV to move toward the goal and avoid static obstacles. The DWA is then integrated to handle real-time local dynamic obstacles, leveraging the AUV’s kinematic constraints. Simulation results demonstrate the effectiveness of this method in complex underwater environment. The adaptability and safety of AUV navigation are significantly improved by this hybrid approach, which is a promising solution in applications of marine exploration, environmental monitoring, and offshore operations.

Source: IEEE Access

DOI: 10.1109/access.2025.3570790

Authors: Xiang Gao, Duowei Jia, Xinghua Liu, Jiaxuan Du, Haibo Zhang

Institutions: Xi'an University of Technology, Northwestern Polytechnical University

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,075

Funder: Natural Science Basic Research Program of Shaanxi Province