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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)
作者部门水下机器人研究室
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
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码891-895
收录类别EI ; CPCI(ISTP)
EI收录号20161402187631
WOS记录号WOS:000380502300169
产权排序2
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Underwater Glider Ocean Current Wavefront Expansion A*A**A* A*A*lA*gA*oA*rA*iA*tA*hA*mA* Path Planning
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.
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/173321/18536
专题水下机器人研究室
作者单位1.State Key Laboratory of Robotics, Key Laboratory of Submarine Geosciences, SOA, Second Institute of Oceanography, SOA, Hangzhou, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
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Zhu XK,Jin XL,Yu JC,et al. Path planning in stronger ocean current for underwater glider[C]. Piscataway, NJ, USA:IEEE,2015:891-895.
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