Path Planning of UnmannedUnderwater Vehicle (UUV ) forShortrange Fishnet Inspection Usingthe Hybrid A* Algorithm

Abstract

This thesis present a small protion of the large motion planning domain. It focuses on the use of the Hybrid A* algorithm to generate a transverable path form A to B for underwater vehicles. The benefits is that the algorithm is capable to generate paths that are moveable by a vehicle because the algorithm includes a kinematic model that represents such vehicle.

Few cases has been run to present how the algorithm performs in set situation where the results were unfortunetly quite few and lacking. The approach used is to use the geometry of the fishfarm to establish control nodes in which the algorithm can find path for. For a large domain the simulation take a significant amount of time to generate a path, which is not ideal. This approach would reduce the strain on the computer where the points could be changed based on the movement of the farm.

Nevertheless additional studies needs to be made to both comfirm what was suggested and to develop something better.