Effective Underwater Glider Path Planning in Dynamic 3D Environments Using Multi-Point Potential Fields

TL;DR

This paper presents an improved real-time 3D path planning method, Multi-Point Potential Field (MPPF), for underwater gliders operating in dynamic environments, enhancing robustness and efficiency in obstacle avoidance and flow adaptation.

Contribution

The paper introduces an advanced MPPF method specifically designed for 3D underwater glider navigation in dynamic conditions, addressing obstacles, flow fields, and local minima.

Findings

Enhanced path planning efficiency demonstrated in simulations.

Robust obstacle avoidance in complex flow conditions.

Validation with a low-cost prototype confirms real-world applicability.

Abstract

Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessitates robust path-planning strategies. Previous studies have primarily focused on global energy or time-efficient path planning in explored environments, overlooking challenges posed by unpredictable flow conditions and unknown obstacles in varying and dynamic areas like fjords and near-harbor waters. This paper introduces and improves a real-time path planning method, Multi-Point Potential Field (MPPF), tailored for UGs operating in 3D space as they are constrained by buoyancy propulsion and internal actuation. The proposed MPPF method addresses obstacles, flow fields, and local minima, enhancing the efficiency and robustness of UG path planning. A low-cost prototype, the Research Oriented Underwater Glider for Hands-on Investigative Engineering (ROUGHIE), is utilized for validation. Through case studies and simulations, the efficacy of the enhanced MPPF method is demonstrated, highlighting its potential for real-world applications in underwater exploration.