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题名: Path planning method of underwater glider based on energy consumption model in current environment
作者: Zhou YJ(周耀鉴); Yu JC(俞建成); Wang XH(王晓辉)
作者部门: 水下机器人研究室
会议名称: The 7th International Conference on Intelligent Robotics and Application (ICIRA2014)
会议日期: December 17-20, 2014.
会议地点: Guangzhou, China
会议主办者: South China University of Technology, China
会议录: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2014
页码: 142-152
收录类别: EI ; CPCI(ISTP)
ISSN号: 0302-9743
ISBN号: 978-3-319-13965-4
关键词: optimal energy consumption ; adjustable speed ; iteration ; underwater glider ; path planning
摘要: It is generally considered that the speed of underwater glider is the function of buoyancy and gliding angle. However, the buoyancy and gliding angle are adjustable, which makes the speed of underwater glider within an adjustable range, however, it is usually taken as a constant in current documentations. Considering the path planning in ocean currents, if the maximum speed of a glider can find a path that connects the start point and the target point, then it can decrease its consumption by adjusting its speed in current field of some regions to fit the favorable currents and overcome the influence of adverse currents. Based on the above facts, the paper presents a new path planning method of adjustable speed glider in currents, and the simulation result is shown. According to the result: compared with the path planning method in constant speed, the adjustable speed glider can utilize the current in a better way and save the consumption of energy in a further way.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15318
Appears in Collections:水下机器人研究室_会议论文

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