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Path planning for multipoint seabed survey mission using autonomous underwater vehicle
An Y(安阳)1,2; Xu GF(徐高飞)1,2; Xu CH(徐春晖)1; Zhao HY(赵宏宇)1; Liu J(刘健)1
作者部门水下机器人研究室
会议名称OCEANS 2017 MTS/IEEE Anchorage
会议日期September 18-21, 2017
会议地点Anchorage, USA
会议录名称OCEANS 2017 MTS/IEEE Anchorage
出版者IEEE
出版地NEW YORK
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
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22111
专题水下机器人研究室
通讯作者An Y(安阳)
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
推荐引用方式
GB/T 7714
An Y,Xu GF,Xu CH,et al. Path planning for multipoint seabed survey mission using autonomous underwater vehicle[C]. NEW YORK:IEEE,2017:1-5.
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