DocumentCode
1790396
Title
Path planning for 3D coastal navigation of underwater structures
Author
Jung-Tae Kim ; Ji-Hong Li ; Mun-Jik Lee ; Hyung-Joo Kang ; Won-Seok Le
Author_Institution
Korea Inst. of Robot & Convergence, Pohang, South Korea
fYear
2014
fDate
14-19 Sept. 2014
Firstpage
1
Lastpage
5
Abstract
For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV model we had simulation experiments for the coastal navigation using our proposed algorithm. The experimental results show that our proposed algorithm generates useful paths for 3D costal navigation around a Jacket underwater structure.
Keywords
autonomous underwater vehicles; digital simulation; path planning; solid modelling; 3D Jacket structure model; 3D coastal navigation; Jacket underwater structure; UUV model; path planning algorithm; positional information sources; underwater structures; unmanned underwater vehicles; History; Navigation; Path planning; Robots; Sea measurements; Sonar; Underwater structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Oceans - St. John's, 2014
Conference_Location
St. John´s, NL
Print_ISBN
978-1-4799-4920-5
Type
conf
DOI
10.1109/OCEANS.2014.7003234
Filename
7003234
Link To Document