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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)
Department水下机器人研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages891-895
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187631
WOS IDWOS:000380502300169
Contribution Rank2
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordUnderwater Glider Ocean Current Wavefront Expansion A*A**A* A*A*lA*gA*oA*rA*iA*tA*hA*mA* Path Planning
AbstractPath 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18536
Collection水下机器人研究室
Affiliation1.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
Recommended Citation
GB/T 7714
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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