Path planning in stronger ocean current for underwater glider

Path planning of underwater glider in stronger ocean current field is researched. Firstly, we established the ocean current model and the motion model of the glider in current environment. According to current forecast, the wavefront algorithm and A* algorithm were used to get the optimal path respe...

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Bibliographic Details
Published in2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) pp. 891 - 895
Main Authors Zhu Xinke, Jin Xianglong, Yu Jiancheng, Li Yiping
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2015
Subjects
Algorithm design and analysis
Automation
A∗ algorithm
Heuristic algorithms
ocean current
Oceans
Path planning
Robots
underwater glider
Underwater vehicles
wavefront expansion
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Summary:Path planning of underwater glider in stronger ocean current field is researched. Firstly, we established the ocean current model and the motion model of the glider in current environment. According to current forecast, the wavefront algorithm and A* algorithm were used to get the optimal path respectively. When the time spent on the distance between the start and the destination beyond the current forecast period, we designed segmented path planning algorithm. The results shows that A* algorithm not only has high search efficiency but also adapts to the whole and segmented path planning.
ISBN:9781479987283
147998728X
DOI:10.1109/CYBER.2015.7288062