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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)
Department水下机器人研究室
Conference NameThe 7th International Conference on Intelligent Robotics and Application (ICIRA2014)
Conference DateDecember 17-20, 2014.
Conference PlaceGuangzhou, China
Author of SourceSouth China University of Technology, China
Source PublicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Publication PlaceBerlin
2014
Pages142-152
Indexed ByEI ; CPCI(ISTP)
EI Accession number20144800259763
WOS IDWOS:000354872700014
Contribution Rank1
ISSN0302-9743
ISBN978-3-319-13965-4
KeywordOptimal Energy Consumption Adjustable Speed Iteration Underwater Glider Path Planning
AbstractIt 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15318
Collection水下机器人研究室
Corresponding AuthorZhou YJ(周耀鉴)
Affiliation1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
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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