Three-dimensional path planning for the NPS II AUV
Caddell, Tymothy Wayne
Hughes, Gary J.
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The Naval Postgraduate School in Monterey, California is currently working on an ongoing project for research in autonomous underwater vehicle (AUV) technology. This project comprises two areas of research. the first area is research conducted on the system, NPS II AUV. The second area is a computer simulation of the actual system. One topic which is vital to both areas is three=dimensional path planning. The concept of three-dimensional path planning is on the order of magnitude of polynomial time and current research in this area is limited. This paper reviews my findings and submits an algorithm which finds a best path in a three-dimensional environment, while avoiding all known polyhedral obstacles. The algorithm's concept is to reduce the three-dimensional world to a series of two-dimensional representations, allowing the algorithm to use tangential lines created from the start to nodes on the polygons lying between the start and goal, from nodes to polygon to other polygons and nodes and finally, from polygon nodes to the goal.
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