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
Volume67
Pages3343
Subjectpath planning; geometrical graph; graph methods; time-varying environment; AUV; AUV “SLOCUM Glider”; autonomous systems
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.
Publication date
PublisherElsevier
LanguageEnglish
AffiliationAquatic and Crop Resource Development; National Research Council Canada
Peer reviewedYes
NPARC number23001576
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Record identifiere39b6a40-995b-41b1-9bc8-aa350c57b67b
Record created2017-03-07
Record modified2017-03-07
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