Adaptive path-planning for AUVs in dynamic underwater environments using sonar data

Bryan B.; Md Junayed Hasan; Somasundar Kannan; Radhakrishna Prabhu

doi:10.1117/12.3031644

13 November 2024 Adaptive path-planning for AUVs in dynamic underwater environments using sonar data

Bryan B., Md Junayed Hasan, Somasundar Kannan, Radhakrishna Prabhu

Author Affiliations +

Proceedings Volume 13206, Artificial Intelligence for Security and Defence Applications II; 1320616 (2024) https://doi.org/10.1117/12.3031644
Event: Security + Defence, 2024, Edinburgh, United Kingdom

Conference Poster

Abstract

This paper presents an innovative approach to path-planning for Autonomous Underwater Vehicles (AUVs) in complex underwater environments, leveraging single-beam sonar data. Recognizing the limitations of traditional sonar systems in providing detailed environmental data, we introduce a method to effectively utilize Ping360 sonar scans for obstacle detection and avoidance. Our research addresses the challenges posed by dynamic underwater currents and obstacle unpredictability, incorporating environmental factors such as water temperature, depth, and salinity to adapt the sonar’s range detection capabilities. We propose a novel algorithm that extends beyond the capabilities of the A* algorithm, considering the underwater currents’ impact on AUV navigation. Our method demonstrates significant improvements in navigational efficiency and safety, offering a robust solution for AUVs operating in uncertain and changing underwater conditions. The paper outlines our experimental setup, algorithmic innovations, and the results of comprehensive simulations conducted in a controlled tank environment, showcasing the potential of our approach in enhancing AUV operational capabilities for defense and security applications.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Bryan B., Md Junayed Hasan, Somasundar Kannan, and Radhakrishna Prabhu "Adaptive path-planning for AUVs in dynamic underwater environments using sonar data", Proc. SPIE 13206, Artificial Intelligence for Security and Defence Applications II, 1320616 (13 November 2024); https://doi.org/10.1117/12.3031644

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