Path Planning for Underwater Gliders with Motion Constraints

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.

关键词： Underwater glider Path planning Artificial potential field Motion constraint

作者: Zhiliang Wu Mengyuan Zhao Yanhui Wang Yuhong Liu Hongwei Zhang Shuxin Wang Ermai Qi

作者单位: School of Mechanical Engineering, Tianjin University, Tianjin 300072, China National Ocean Technology Center, 219 Jieyuanxi Rd, Nankai District,Tianjin 300112, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 3-10

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）