Path planning for underwater gliders using iterative optimization

摘要：

Underwater gliders constitute a technology in active development, which has proven very promising in Ocean Research because of its relative low cost and long mission range. Due to their low surge speed, however, gliders are strongly affected by ocean currents, making path planning a crucial tool for this type of vehicles. In this work, we present a novel path planning algorithm for gliders based on iterative optimization that shows promising results in realistic simulations. This method reflects accurately the vehicle operation pattern and exhibits a better performance when compared with alternative approaches that are compared in this paper.

作者: Josep Isern-Gonz(a)lez Daniel Hern(a)ndez-Sosa Enrique Fern(a)ndez-Perdomo Jorge Cabrera-G(a)mez Antonio C. Dom(i)nguez-Brito V(i)ctor Prieto-Mara(n)(o)n

作者单位: University Institute of Sistemas Inteligentes y Aplicaciones Num(e)ricas en Ingenier(i)a (SIANI),Universidad de Las Palmas de Gran Canaria,Las Palmas de Gran Canaria,Spain

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1538-1543

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）