Path Planning for Underwater Gliders with Motion Constraints

被引：2
|
作者：
Wu, Zhiliang [1 ]
Zhao, Mengyuan [1 ]
Wang, Yanhui [1 ]
Liu, Yuhong [1 ]
Zhang, Hongwei [1 ]
Wang, Shuxin [1 ]
Qi, Ermai [2 ]
机构：
[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
[2] Natl Ocean Technol Ctr, 219 Jieyuanxi Rd, Tianjin 300112, Peoples R China
来源：
MECHANISM AND MACHINE SCIENCE | 2017年 / 408卷
基金：
中国国家自然科学基金;
关键词：
Underwater glider; Path planning; Artificial potential field; Motion constraint;
D O I：
10.1007/978-981-10-2875-5_1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The underwater glider technology is a promising ocean observing technique. This paper presents path planning for underwater gliders as they travel in the water. The objective is that the underwater glider arrives at the destined depth while avoiding the obstacles in the way. Artificial potential field approach is used in the path planning algorithm, which is featured by adding motion constraints of the underwater glider into path generation.
引用
收藏
页码：3 / 10
页数：8
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