A path planning method for underwater vehicle based on ocean current information

摘要：

A new path planning based on ocean Current information method for underwater vehicle was proposed. Considering the impact of ocean Currents in the path planning and the currents environmental field is generated using the historical statistical currents data. In order to plan out the path closer to peoples wishes, the concept of assistant path point is proposed. After designing the evaluation function by considering the safety and economy of the path, Particle Swarm Optimization (PSO) algorithm was used for optimization of the global path planning for underwater vehicle. Simulation result shows that the planning path is closer to the real sailing track.

关键词： path planning history statistics ocean current assistant path point pso fitness function

作者: Chang Liu Yan-ling Hao Feng Gao

作者单位: Department of Automation University of Harbin Engineering Harbin,Heilongjiang, China

会议类型: 国际会议

会议名称: The Fourth International Joint Conference on Computational Science and Optimization(第四届计算科学与优化国际大会 CSO 2011)

会议地点: 昆明、丽江

会议语种:英文

页码: 987-991

在线出版日期: 2011-04-15（万方平台首次上网日期，不代表论文的发表时间）