Paper Info
Title
Bilevel Optimization-Based Time-Optimal Path Planning for AUVs.
Abstract
Using the bilevel optimization (BIO) scheme, this paper presents a time-optimal path planner for autonomous underwater vehicles (AUVs) operating in grid-based environments with ocean currents. In this scheme, the upper optimization problem is defined as finding a free-collision channel from a starting point to a destination, which consists of connected grids, and the lower optimization problem is defined as finding an energy-optimal path in the channel generated by the upper level algorithm. The proposed scheme is integrated with ant colony algorithm as the upper level and quantum-behaved particle swarm optimization as the lower level and tested to find an energy-optimal path for AUV navigating through an ocean environment in the presence of obstacles. This arrangement prevents discrete state transitions that constrain a vehicle's motion to a small set of headings and improves efficiency by the usage of evolutionary algorithms. Simulation results show that the proposed BIO scheme has higher computation efficiency with a slightly lower fitness value than sliding wavefront expansion scheme, which is a grid-based path planner with continuous motion directions.
Year
DOI
Venue
2018
10.3390/s18124167
SENSORS
Keywords
Field
DocType
autonomous underwater vehicle (AUV),bilevel optimization (BIO),energy-optimal path,path planning
Motion planning,Mathematical optimization,Bilevel optimization,Electronic engineering,Engineering
Journal
Volume
Issue
ISSN
18
12.0
1424-8220
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Xuliang Yao153.17
Feng Wang220.74
Jingfang Wang300.68
Xiao-Wei Wang459659.78