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题名:
Path planning for multipoint seabed survey mission using autonomous underwater vehicle
作者: An Y(安阳); Xu GF(徐高飞); Xu CH(徐春晖); Zhao HY(赵宏宇); Liu J(刘健)
作者部门: 水下机器人研究室
通讯作者: An Y(安阳)
会议名称: OCEANS 2017 MTS/IEEE Anchorage
会议日期: September 18-21, 2017
会议地点: Anchorage, USA
会议录: OCEANS 2017 MTS/IEEE Anchorage
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2017
页码: 1-5
收录类别: EI
EI收录号: 20182405297558
产权排序: 1
ISBN号: 978-0-692-94690-9
关键词: Autonomous Underwater Vehicles ; Path planning ; Multipoint seabed survey ; K-means clustering ; Ant colony algorithm
摘要: This paper focuses on the problem of seabed survey mission with multiple target points distributed in large scale area. To complete the survey with AUVs in minimum cost, a two-step procedure using greed strategy is presented. In the first step, the locations of so-called anchor points are found by executing k-means algorithm iteratively. In the second step, an ant-cycle system is used to find out the optimized order of access from each anchor point to target points nearby. Simulation is also implemented to prove the validity of the algorithm.
语种: 英语
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/22090
Appears in Collections:水下机器人研究室_会议论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China

Recommended Citation:
An Y,Xu GF,Xu CH,et al. Path planning for multipoint seabed survey mission using autonomous underwater vehicle[C]. OCEANS 2017 MTS/IEEE Anchorage. Anchorage, USA. September 18-21, 2017.Path planning for multipoint seabed survey mission using autonomous underwater vehicle.
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文件名: Path planning for multipoint seabed survey mission using autonomous underwater vehicle.pdf
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