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Title: Adaptive bearing sampling for a constant-time surfacing A* path planning algorithm for gliders
Authors: Fernàndez-Perdomo, Enrique
Cabrera-Gàmez, Jorge 
Hernandez-Sosa, Daniel 
Isern-González, Josep 
Domínguez-Brito, Antonio C. 
Prieto-Marañón, Víctor
Ramos, Antonio G. 
UNESCO Clasification: 120304 Inteligencia artificial
331913 Vehículos submarinos
120326 Simulación
Keywords: Oceans
Computational modeling
Issue Date: 2011
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Project: Planificación y Navegación de Vehículos Autónomos Submarinos: Asimilación y Validación de Modelos Oceánicos en 3D de Escala Regional en Aguas Del Archipiélago Canario. 
Journal: Proceedings - IEEE International Conference on Robotics and Automation 
Conference: IEEE International Conference on Robotics and Automation (ICRA) 
2011 IEEE International Conference on Robotics and Automation, ICRA 2011 
Abstract: Unmanned Underwater Vehicles (UUVs) are commonly used in Oceanography due to their relative low cost and wide range of capabilities. Gliders are a type of UUV particularly suitable for long-range missions because of their large autonomy. They change their buoyancy to dive and climb describing a vertical saw tooth pattern, which produces an effective but low horizontal speed. Consequently, gliders are strongly sensitive to ocean currents, so they might have to adapt the heading to the current field. In this article we outline a novel path planning algorithm for gliders using ocean currents. It bases on the A* family of algorithms and incorporates a probabilistic framework. Our approach intends to alleviate some of the drawbacks that A* has with the problem at hand. Instead of discretizing the search space, a set of bearing angles is sampled at each surfacing point and the glider trajectory is integrated. We propose an Adaptive Bearing Sampling (ABS) procedure which reduces the computational time with low impact on the results, as shown by the tests run with ocean currents of a Regional Ocean Model.
ISBN: 9781612843865
ISSN: 1050-4729
DOI: 10.1109/ICRA.2011.5980137
Source: Proceedings - IEEE International Conference on Robotics and Automation [ISSN 1050-4729] (5980137), p. 2350-2355
Appears in Collections:Actas de congresos
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