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A combined path planning and path following method for underwater glider navigation in a strong, dynamic flow field
Hou, Mengxue1; Liu SJ(刘世杰)2; Zhang FM(张福民)1; Edwards, Catherine R.3
作者部门海洋机器人卓越创新中心
会议名称OCEANS 2018 MTS/IEEE Kobe
会议日期May 28-31, 2018
会议地点Kobe, Japan
会议录名称OCEANS 2018 MTS/IEEE Kobe
出版者IEEE
出版地New York
2018
页码1-8
收录类别EI
EI收录号20190406415812
产权排序2
ISBN号978-1-5386-1654-3
摘要In this paper, path planning is used to design the time-optimal path for an underwater glider subject to realistic flow conditions, while flow canceling strategy is used to calculate glider’s steering angle such that it will follow the planned path. Navigation performance, defined in terms of path tracking error and travel time for glider to reach the destination, is discussed for cases of using flow canceling algorithm with respect to different flow conditions and relative strength of the time-varying and averaged flow. Mathematical analysis shows that performing path following with the averaged flow results in shorter travel time compared to performing path following with instantaneous flow, when non-tidal flow is the dominant component in the field. But it may result in longer travel time when tidal flow is the dominant component in the field. Path following with averaged flow results in increasing path following error if flow speed is less than the glider’s forward speed. When flow speed is comparable to glider speed, the path tracking error can be unbounded when using flow canceling with instantaneous flow. Simulated experiments near Cape Hatteras, NC show that performing flow canceling algorithm with averaged flow will result in shorter travel time, but may induce larger path tracking error than performing flow canceling algorithm with instantaneous flow. © 2018 IEEE.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/24125
专题海洋机器人卓越创新中心
通讯作者Hou, Mengxue
作者单位1.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
2.GA 30308, United States
3.Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, China
4.Skidaway Institute of Oceanography, Department of Marine Science, University of Georgia, Savannah
5.GA 31411, United States
推荐引用方式
GB/T 7714
Hou, Mengxue,Liu SJ,Zhang FM,et al. A combined path planning and path following method for underwater glider navigation in a strong, dynamic flow field[C]. New York:IEEE,2018:1-8.
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