Solutions for practice-oriented requirements for optimal path planning for the AUV “SLOCUM Glider”

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DOIResolve DOI: http://doi.org/10.1109/OCEANS.2010.5664082
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TypeArticle
Proceedings titleOCEANS 2010
ConferenceOCEANS 2010 MTS/IEEE Seattle, September 20-23, 2010, Seattle, Washington
Pages110; # of pages: 10
Subjectunderwater gliders; optimal path-planning; optimal departure time; adverse time-varying ocean currents; graph-based algorithms; TVE search method; time-variant cost function; acceleration methods; optimal navigation formula; oceanographic data; Newfoundland and Labrador Shelf; glider behaviour model
AbstractThis paper presents a few important practiceoriented requirements for optimal path planning for the AUV “SLOCUM Glider” as well as solutions using fast graph based algorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure time are the motivation to address the field of research, which is described in this paper. The main focus of this paper is a discussion of possible methods to accelerate the path planning algorithm, without deterioration of the results.
Publication date
LanguageEnglish
AffiliationNRC Institute for Ocean Technology; National Research Council Canada
Peer reviewedYes
NPARC number17665442
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Record identifierbc65e737-3bea-4c72-beae-60a5c7517122
Record created2011-04-01
Record modified2016-05-09
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