조류와 장애물을 고려한 자율무인잠수정의 전역경로계획

This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genet...

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Published inHan-guk haeyang gonghak hoeji (Online) Vol. 26; no. 4; pp. 1 - 7
Main Authors 이기영(Ki-Young Lee), 김수범(Subum Kim), 송창희(Chan-Hee Song)
Format Journal Article
LanguageKorean
Published 한국해양공학회 2012
Subjects
해양공학
전역경로계획
자율무인잠수정
Global path planning
Genetic algorithm
Obstacle avoidance
장애물 회피
Current vector field
조류벡터장
Autonomous underwater vehicel
유전자 알고리즘
Online AccessGet full text
ISSN1225-0767
2287-6715

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Abstract This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation results showed that the genetic algorithm could be applied to generate an optimal path in the field of a tidal current with multiple obstacles.
AbstractList This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously ddressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation resultsshowed that the genetic algorithm could be applied to generate an optimal path in the field of a tidal current with multiple obstacles. KCI Citation Count: 7
This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation results showed that the genetic algorithm could be applied to generate an optimal path in the field of a tidal current with multiple obstacles.
Author 이기영(Ki-Young Lee)
송창희(Chan-Hee Song)
김수범(Subum Kim)
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DocumentTitleAlternate Global Path Planning for Autonomous Underwater Vehicles in Current Field with Obstacles
DocumentTitle_FL Global Path Planning for Autonomous Underwater Vehicles in Current Field with Obstacles
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Keywords 전역경로계획
자율무인잠수정
Global path planning
Genetic algorithm
Obstacle avoidance
장애물 회피
Current vector field
조류벡터장
Autonomous underwater vehicel
유전자 알고리즘
Language Korean
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PublicationTitle Han-guk haeyang gonghak hoeji (Online)
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Snippet This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field...
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SubjectTerms 해양공학
Title 조류와 장애물을 고려한 자율무인잠수정의 전역경로계획
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