Identificador persistente para citar o vincular este elemento: http://hdl.handle.net/10553/47382
Título: Adaptive bearing sampling for a constant-time surfacing A* path planning algorithm for gliders
Autores/as: Fernàndez-Perdomo, Enrique
Cabrera-Gàmez, Jorge 
Hernandez-Sosa, Daniel 
Isern-González, Josep 
Domínguez-Brito, Antonio C. 
Prieto-Marañón, Víctor
Ramos, Antonio G. 
Clasificación UNESCO: 120304 Inteligencia artificial
331913 Vehículos submarinos
120326 Simulación
Palabras clave: Oceans
Trajectory
Strontium
Kinematics
Computational modeling, et al.
Fecha de publicación: 2011
Editor/a: Institute of Electrical and Electronics Engineers (IEEE) 
Proyectos: Planificación y Navegación de Vehículos Autónomos Submarinos: Asimilación y Validación de Modelos Oceánicos en 3D de Escala Regional en Aguas Del Archipiélago Canario. 
Publicación seriada: Proceedings - IEEE International Conference on Robotics and Automation 
Conferencia: IEEE International Conference on Robotics and Automation (ICRA) 
2011 IEEE International Conference on Robotics and Automation, ICRA 2011 
Resumen: 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.
URI: http://hdl.handle.net/10553/47382
ISBN: 9781612843865
ISSN: 1050-4729
DOI: 10.1109/ICRA.2011.5980137
Fuente: Proceedings - IEEE International Conference on Robotics and Automation [ISSN 1050-4729] (5980137), p. 2350-2355
Colección:Actas de congresos
Vista completa

Google ScholarTM

Verifica

Altmetric


Comparte



Exporta metadatos



Los elementos en ULPGC accedaCRIS están protegidos por derechos de autor con todos los derechos reservados, a menos que se indique lo contrario.