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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.15686 |
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| _version_ | 1866916749806403584 |
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| author | Feng, Zhengji Chen, Hengxiang Chen, Liqun Li, Heyan Mou, Xiaolin |
| author_facet | Feng, Zhengji Chen, Hengxiang Chen, Liqun Li, Heyan Mou, Xiaolin |
| contents | Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework for a wireless energy sharing system among AUVs is proposed, enabling rapid energy replenishment. Path planning plays a crucial role in the energy-sharing process and autonomous navigation, as it must generate feasible trajectories toward designated goals. This article focuses on efficient obstacle avoidance in complex underwater environments, including irregularly shaped obstacles and narrow passages. The proposed method combines Rapidly-exploring Random Trees Star (RRT*) with Particle Swarm Optimization (PSO) to improve path planning efficiency. Comparative analysis of the two algorithms is presented through simulation results in both random and irregular obstacle environments. Index Terms: Wireless charging, autonomous underwater vehicles (AUVs), path planning, irregular obstacles, narrow passages, RRT*, particle swarm optimization (PSO). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_15686 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Path Planning Algorithm Comparison Analysis for Wireless AUVs Energy Sharing System Feng, Zhengji Chen, Hengxiang Chen, Liqun Li, Heyan Mou, Xiaolin Systems and Control Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework for a wireless energy sharing system among AUVs is proposed, enabling rapid energy replenishment. Path planning plays a crucial role in the energy-sharing process and autonomous navigation, as it must generate feasible trajectories toward designated goals. This article focuses on efficient obstacle avoidance in complex underwater environments, including irregularly shaped obstacles and narrow passages. The proposed method combines Rapidly-exploring Random Trees Star (RRT*) with Particle Swarm Optimization (PSO) to improve path planning efficiency. Comparative analysis of the two algorithms is presented through simulation results in both random and irregular obstacle environments. Index Terms: Wireless charging, autonomous underwater vehicles (AUVs), path planning, irregular obstacles, narrow passages, RRT*, particle swarm optimization (PSO). |
| title | Path Planning Algorithm Comparison Analysis for Wireless AUVs Energy Sharing System |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2505.15686 |