Path planning in stronger ocean current for underwater glider

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Path planning in stronger ocean current for underwater glider
	Zhu XK(朱心科); Jin XL(金翔龙); Yu JC(俞建成); Li YP(李一平)
	2015
会议名称	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期	June 8-12, 2015
会议地点	Shenyang, China
关键词	underwater glider ocean current wavefront expansion A* algorithm path planning
页码	891-895
中文摘要	Path planning of underwater glider in stronger ocean current field is researched. Firstly, we established the ocean current model and the motion model of the glider in current environment. According to current forecast, the wavefront algorithm and A- algorithm were used to get the optimal path respectively. When the time spent on the distance between the start and the destination beyond the current forecast period, we designed segmented path planning algorithm. The results shows that A- algorithm not only has high search efficiency but also adapts to the whole and segmented path planning.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-4799-8730-6
WOS记录号	WOS:000380502300169
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18536]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Zhu XK,Jin XL,Yu JC,et al. Path planning in stronger ocean current for underwater glider[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.