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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
Department水下机器人研究室
Conference NameOCEANS 2017 MTS/IEEE Anchorage
Conference DateSeptember 18-21, 2017
Conference PlaceAnchorage, USA
Source PublicationOCEANS 2017 MTS/IEEE Anchorage
PublisherIEEE
Publication PlaceNEW YORK
2017
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20182405297558
WOS IDWOS:000455012000240
Contribution Rank1
ISBN978-0-692-94690-9
KeywordAutonomous Underwater Vehicles Path Planning Multipoint Seabed Survey K-means Clustering Ant Colony Algorithm
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22111
Collection水下机器人研究室
Corresponding AuthorAn Y(安阳)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
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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