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Path planning method of underwater glider based on energy consumption model in current environment
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
会议录名称Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
出版地Berlin
2014
页码142-152
收录类别EI ; CPCI(ISTP)
EI收录号20144800259763
WOS记录号WOS:000354872700014
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15318
专题水下机器人研究室
通讯作者Zhou YJ(周耀鉴)
作者单位1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhou YJ,Yu JC,Wang XH. Path planning method of underwater glider based on energy consumption model in current environment[C]//South China University of Technology, China. Berlin:Springer Verlag,2014:142-152.
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