Underwater Vehicles Long Voyage Path Planning in Complez Sea Condition

摘要：

The characteristic of path planning for underwater vehicle is large planning area and sparse obstacles, effect of sea current. A new path planning approach in this paper is presented. In the method, trunk binary tree is used for environment modeling and search space generating so that planning area can be ignored. The heuristic evaluation function is designed by colligating path length, Ocean current and obstacles cost. A* heuristic evaluation arithmetic is used for getting the path by the least cost. Particle swarm optimization (PSO) in path planning is used for largely reducing disadvantage effect of ocean current and energy cost more. Simulation results prove the effectiveness of this approach which fulfills the demand of path planning for underwater vehicle.

关键词： component underwater vehicle trunk binary tree A* arithmetic particle swarm optimization (PSO) ocean current

作者: Yufeng Mao Yongjie Pang Zhaoli Wang

作者单位: State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University SKLAUV,HEU Harbin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(2009 IEEE 智能计算与智能系统国际会议)

会议地点: 上海

会议语种:英文

页码: 1564-1568

在线出版日期: 2009-11-20（万方平台首次上网日期，不代表论文的发表时间）