Autonomous driving paper index
A Motion Planning Method for an Autonomous Underwater Vehicle with Kinematic Constraints
One-line summary
In this paper, we combine the AUV motion state with the grid map and propose a path searching algorithm based on kinematics to ensure the correctness and dynamic feasibility of the path.
Engineering notes
Key topics: autonomous driving, motion planning, planning. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
Motion planning is essential for the autonomous underwater vehicle (AUV) to achieve complete autonomous navigation in unknown environments. The two-layer motion planning framework, which combines path searching and trajectory parameterization, cannot deal with the non-zero initial state of AUV and is even unable to plan a dynamically feasible trajectory in an environment that needs reversing. In this paper, we combine the AUV motion state with the grid map and propose a path searching algorithm based on kinematics to ensure the correctness and dynamic feasibility of the path. By exploiting the advantages of the B-spline, the trajectory optimization strategy with a safety guarantee algorithm is proposed to ensure the safety of the final trajectory. Comparing with the other methods, the general applicability of this framework was demonstrated using a simulation system.
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