@inproceedings{7e8f8bc1f6d94e4ab9568a35737a7d38,
title = "Gravity aided inertial navigation path planning algorithm based on underwater vehicle constraint and bezier curve",
abstract = "In gravity aided inertial navigation, a good path planning, which makes the path pass the area where the gravity changes drastically, in matching area will improve the matching accuracy effectively. The underwater vehicle is restricted by kinematics and other constraints, and cannot move in any direction. However, The path planned by the traditional path planning algorithm is a broken line and is not suitable for actual underwater vehicle navigation. Aiming at underwater vehicle path planning problem, this paper proposes a gravity aided inertial navigation path planning algorithm which is based on vehicle constraints and Bezier curves. The A \{ast\} algorithm is optimized by vehicle constraints and gravity characteristics. The Bezier curve is used to smooth the planned path, making the planned path more suitable for the actual situation. Simulation experiments show that the matching accuracy is effectively improved by the planned path based on vehicle constraints and Bezier curve.",
keywords = "A, Algorithm, Bezier Curve, Gravity Aided Inertial Navigation System, Path Planning",
author = "Lei Shi and Wenzhe Zhang and Yuan Cheng and Zhihong Deng",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866183",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3857--3862",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}