Title :
A Path Planning Method for Underwater Vehicle Based on Ocean Current Information
Author :
Liu, Chang ; Hao, Yan-ling ; Gao, Feng
Author_Institution :
Dept. of Autom., Univ. of Harbin Eng., Harbin, China
Abstract :
A new path planning based on ocean Current information method for underwater vehicle was proposed. Considering the impact of ocean Currents in the path planning and the currents environmental field is generated using the historical statistical currents data. In order to plan out the path closer to people´s wishes, the concept of assistant path point is proposed. After designing the evaluation function by considering the safety and economy of the path, Particle Swarm Optimization (PSO) algorithm was used for optimization of the global path planning for underwater vehicle. Simulation result shows that the planning path is closer to the real sailing track.
Keywords :
collision avoidance; marine safety; particle swarm optimisation; underwater vehicles; environmental field; global path planning; ocean current information; particle swarm optimization; safety; underwater vehicle; Energy consumption; Oceans; Optimization; Particle swarm optimization; Path planning; Planning; Underwater vehicles; assistant path point; fitness function; history statistics ocean current; path planning; pso;
Conference_Titel :
Computational Sciences and Optimization (CSO), 2011 Fourth International Joint Conference on
Conference_Location :
Yunnan
Print_ISBN :
978-1-4244-9712-6
Electronic_ISBN :
978-0-7695-4335-2
DOI :
10.1109/CSO.2011.51
