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

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left" rowspan="2">Path</td><td align="center" colspan="3">Length of the path (m)</td></tr><tr class="thead"><td align="center">NPSO</td><td align="center">APF</td><td align="center">A*</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left"><span style="width: 51.075001px;"><svg height="11.4625" id="M406" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 51.075001 11.4625" width="51.075001" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg></span></td><td align="center">1593.79</td><td align="center">—</td><td align="center">1716.81</td></tr><tr><td align="left"><span style="width: 52.412498px;"><svg height="11.6875" id="M407" style="vertical-align:-0.17554pt" version="1.1" viewbox="0 0 52.412498 11.6875" width="52.412498" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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q0 -140 73.5 -227.5t188.5 -87.5q73 0 119.5 37.5t86.5 116.5z" id="x43"></path></g><g transform="matrix(.017,-0,0,-.017,18.914,11.363)"><path d="M901 255q-71 -62 -185 -187l-22 15l102 147h-727v50h727l-102 147l22 15q114 -125 185 -187z" id="x2192"></path></g><g transform="matrix(.017,-0,0,-.017,39.857,11.363)"><path d="M43 650h280q194 0 282 -85q85 -82 85 -215q0 -173 -123 -267q-107 -83 -297 -83h-236v27q65 5 79.5 19.5t14.5 77.5v402q0 45 -6 62.5t-21.5 24t-57.5 9.5v28zM213 547v-416q0 -55 24.5 -75t81.5 -20q133 0 203 86t70 214q0 80 -30 143t-88 97q-66 41 -170 41
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</svg></span></td><td align="center">1307.15</td><td align="center">1547.84</td><td align="center">1401.66</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Comparison of different algorithms for path planning.

The Scientific World Journal

tab5

Table 5

Table 5: Path Planning Method for UUV Homing and Docking in Movement Disorders Environment 