Optimal path planning for AUVs in time-varying ocean flows

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TypeArticle
Proceedings title16th Annual International Symposium on Unmanned Untethered Submersible Technology 2009 (UUST 09)
Conference16th International Symposium on Unmanned Untethered Submersible Technology (UUST'09), 23-26 August 2009, Durham, New Hampshire
ISBN9781617381317
Subjectpath planning algorithm; SLOCUM glider; time-varying ocean field; Dijkstra Algorithm; TVE algorithm; cost function
AbstractThis paper presents a new algorithm for path planning in a time-varying environment based on graphical methods. The methods presented make it possible to find an optimal path using defined requirements in a feasible time. The task of the introduced path planning algorithm using an AUV is to find a time-optimal path from a defined start position to a goal position by evasion of all static as well as dynamic obstacles in the area of operation, with consideration of the dynamic vehicle behaviour and the time-varying ocean current. An additional consideration is to show whether it is feasible to use the algorithms on-line and on-board a Webb “SLOCUM” glider AUV. The presented algorithm is equally applicable to land based or aerial mobile autonomous systems.
Publication date
PublisherCurran Associates, Incorporated
LanguageEnglish
AffiliationNRC Institute for Ocean Technology; National Research Council Canada
Peer reviewedYes
NPARC number19559825
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Record identifierb1c919df-cef1-4111-a283-a05de36d5fd4
Record created2012-03-29
Record modified2016-05-09
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