Table of Contents
ISRN Robotics
Volume 2013, Article ID 329591, 6 pages
Research Article

Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

Technion, Israel Institute of Technology, 32000 Haifa, Israel

Received 9 April 2013; Accepted 19 May 2013

Academic Editors: G. C. Gini, J.-S. Liu, and M. Oussalah

Copyright © 2013 Oren Gal. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents two efficient methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods take into account the dynamic constraints of the vehicle using advanced simulator of AUV considering low level control and stability effects. We present modified visibility graph local avoidance method and a spiral algorithm for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.