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Electronic chart based ocean environment development method and its application in digital AUV platform
Liu J(刘健); Liu KZ(刘开周); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name4th International Symposium on Underwater Technology
Conference DateApril 20-23, 2004
Conference PlaceTaipei, TAIWAN
Author of SourceIEEE OES, Natl Taiwan Univ, Dept Engn Sci & Ocean Engn, IEEE OES Taipei Chapter, Univ Tokyo, Inst Ind Sci, Natl Sci Council ROC, Minist Educ ROC, Off Naval Res Int Field Off
Source PublicationPROCEEDINGS OF THE 2004 INTERNATIONAL SYMPOSIUM ON UNDERWATER TECHNOLOGY
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages423-429
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005499525573
WOS IDWOS:000227356400060
Contribution Rank1
ISBN0-7803-8541-1
KeywordAuv Ded Digital Auv Platform Delaunay Trigonometry Electronic Chart
AbstractFor the purpose of building a robust AUV controller, which could be used to handle dangerous ocean environment, a method of obtaining benthonic terrain based on Electronic Chart is presented. Firstly, some terrain conversion algorithms for development of the benthonic terrain, such as nearest neighbor interpolation, linear interpolation, cubic interpolation and v4-interpolation are compared; Later a new terrain conversion algorithm for development of the benthonic terrain DTTCGSFD (Delaunay Triangle-based Terrain Considering of Grid, Sparse, Feature Data) is introduced. This method consider the data not only distance constant grid data, Sparse data, but also feature data with the terrain data, such as fathom line etc. In the end, build benthonic terrain making use of Electronic Chart ESRI shapefile database. The result, which is of importance in the AUV research of terrain matching navigation, path planning and obstacle avoidance strategy, has been applied in the research work of our digital AUV platform.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7815
Collection水下机器人研究室
Affiliation1.Shenyang Institute of Automation, CAS, Shenyang, Liaoning 110016
2.Graduate School, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liu J,Liu KZ,Feng XS. Electronic chart based ocean environment development method and its application in digital AUV platform[C]//IEEE OES, Natl Taiwan Univ, Dept Engn Sci & Ocean Engn, IEEE OES Taipei Chapter, Univ Tokyo, Inst Ind Sci, Natl Sci Council ROC, Minist Educ ROC, Off Naval Res Int Field Off. NEW YORK:IEEE,2004:423-429.
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