Real-time path planning and obstacle avoidance for RAIS: an autonomous underwater vehicle

This paper describes a navigation and guidance system (NGS) with real-time path planning and obstacle avoidance capabilities that has been developed for the autonomous underwater vehicle RAIS. The vehicle is designed to accomplish two missions: pre-deployment survey of sea bottom, and visual inspection of pipelines. In the first mission, the NGS must be able to track a predefined path while avoiding the unplanned occurrence of obstacles. In the second mission, the NGS must track a pipeline by locally reconstructing its location from visual information; also in this case, the unplanned occurrence of obstacles must be handled. Furthermore, the NGS must properly take into account the presence of ocean current and some drastic constraints due to sensor and actuator characteristics. Numerical and hardware-in-the-loop simulations have been developed to verify the effectiveness of the proposed NGS