Real-time Path Planning for Autonomous Underwater Vehicle Mobile Docking

被引：0
|
作者：
Zeng, Daheng [1 ]
Chen, Shumin [2 ]
Li, Zengni [1 ]
Ma, Xinqi [1 ]
Xu, Yuanxin [1 ]
机构：
[1] Zhejiang Univ, Coll Informat Sci & Electron Ic Engn, Hangzhou, Peoples R China
[2] Zhejiang Sci Tech Univ, Fac Informat & Elect, Hangzhou, Peoples R China
来源：
GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST | 2020年
关键词：
AUV; real-time path planning; mobile docking;
D O I：
10.1109/IEEECONF38699.2020.9389376
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
In this paper, we study the real-time path planning problem for AUV mobile docking. The proposed algorithm take the terminal heading and velocity into consideration while AUV docking into the underwater mobile platform using the relative velocity and position between AUV and the platform, the algorithm generates the desired speed and desired heading for the AUV. The simulation results and pool experimental results both show that the proposed algorithm can work well.
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收藏
页数：6
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