Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="246469.fig.007a" src="https://static.hindawi.com/articles/tswj/volume-2014/246469/figures/246469.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Path planning with NPSO</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="246469.fig.007b" src="https://static.hindawi.com/articles/tswj/volume-2014/246469/figures/246469.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Path planning with APF</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="246469.fig.007c" src="https://static.hindawi.com/articles/tswj/volume-2014/246469/figures/246469.fig.007c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Path planning with <svg height="13.75" id="M403" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 20.1875 13.75" width="20.1875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<table>UUV path planning under complex environment.</table>

The Scientific World Journal

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Figure 7

Figure 7: Path Planning Method for UUV Homing and Docking in Movement Disorders Environment 