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

页码：3 / 10

页数：8

共 50 条

[31] Research on Underwater Gliders Path Tracking Based on Reinforcement Learning Algorithm
Shi Q.
Zhang R.
Zhang L.
Lan S.
Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2023, 34 (09): : 1100 - 1110
[32] Path-constrained motion planning for robotics based on kinematic constraints
van Dijk, N. J. M.
van de Wouw, N.
Nijmeijer, H.
Pancras, W. C. M.
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2007, VOL 8, PTS A AND B, 2008, : 1071 - 1080
[33] The Mobile Robot Path Planning with Motion Constraints Based on Bug Algorithm
Xu, Qi-Lei
Yu, Tao
Bai, Jie
2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 2348 - 2352
[34] Quantitative evaluation of motion performances of underwater gliders considering ocean currents
Wang, Yanzhe
Niu, Wendong
Yu, Xiao
Yang, Shaoqiong
Zhang, Lianhong
OCEAN ENGINEERING, 2021, 236
[35] Parameterized Dynamic Modeling and Spiral Motion Pattern Analysis for Underwater Gliders
Yang, Ming
Wang, Yanhui
Zhang, Xinhai
Liang, Yan
Wang, Cheng
IEEE JOURNAL OF OCEANIC ENGINEERING, 2023, 48 (01) : 112 - 126
[36] Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders
Wang Yan-hui
Wang Shu-xin
CHINA OCEAN ENGINEERING, 2009, 23 (03) : 489 - 504
[37] Underwater Gliders: A Review
Javaid, Muhammad Yasar
Ovinis, Mark
Nagarajan, T.
Hashim, Fakhruldin B. M.
ICPER 2014 - 4TH INTERNATIONAL CONFERENCE ON PRODUCTION, ENERGY AND RELIABILITY, 2014, 13
[38] Path Planning for Autonomous Underwater Vehicles (AUVs) Considering the Influences and Constraints of Ocean Currents
Chen, Ziming
Yan, Jinjin
Huang, Ruen
Gao, Yisong
Peng, Xiuyan
Yuan, Weijie
DRONES, 2024, 8 (08)
[39] RRT-based Path Planning with Kinematic Constraints of AUV in Underwater Structured Environment
Heo, Young Jin
Chung, Wan Kyun
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2013, : 523 - 525
[40] Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders
王延辉
王树新
China Ocean Engineering, 2009, 23 (03) : 489 - 504

← 1 2 3 4 5 →