Optimal routing strategies for autonomous underwater vehicles in time-varying environment

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DOIResolve DOI: http://doi.org/10.1016/j.robot.2013.08.010
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TypeArticle
Journal titleRobotics and Autonomous Systems
ISSN0921-8890
AbstractThis paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path from a defined start position to a goal position with consideration of the time-varying ocean current for an autonomous underwater vehicle (AUV). Building on this, additional practice-oriented considerations in planning are discussed in this paper. Such points are the discussion of possible methods to accelerate the algorithms and the determination of the optimal departure time. The solutions and algorithms presented in this paper are focused on path planning requirements for the AUV "SLOCUM Glider". These algorithms are equally applicable to other AUVs or aerial mobile autonomous systems. © 2013 Elsevier B.V. All rights reserved.
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LanguageEnglish
AffiliationNational Research Council Canada (NRC-CNRC); NRC Institute for Ocean Technology (IOT-ITO)
Peer reviewedYes
NPARC number21269686
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Record identifierd93e0bd7-70fc-49e2-b03a-ed8db23ec9a7
Record created2013-12-13
Record modified2016-05-09
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