Abstract
It is generally considered that the speed of underwater glider is the function of buoyancy and gliding angle. However, the buoyancy and gliding angle are adjustable, which makes the speed of underwater glider within an adjustable range, however, it is usually taken as a constant in current documentations. Considering the path planning in ocean currents, if the maximum speed of a glider can find a path that connects the start point and the target point, then it can decrease its consumption by adjusting its speed in current field of some regions to fit the favorable currents and overcome the influence of adverse currents. Based on the above facts, the paper presents a new path planning method of adjustable speed glider in currents, and the simulation result is shown. According to the result: compared with the path planning method in constant speed, the adjustable speed glider can utilize the current in a better way and save the consumption of energy in a further way.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Blidberg, D.R.: The Development of Autonomous Underwater Vehicles (AUV): A brief summary. In: IEEE International Conference on Robotics and Automation (2001)
Eriksen, C.C., et al.: Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE Journal of Oceanic Engineering 26, 424–436 (2001)
Sherman, J., Davis, R.E., Owens, W.B., Valdes, J.: The autonomous underwater glider ‘Spray’. IEEE Journal of Oceanic Engineering 26, 437–446 (2001)
Carroll, K.P., Mc Claran, S.R., Nelson, E.L., Barnett, D.M., Friesen, D.K., William, G.N.: AUV path planning: an A* approach to path planning with consideration of variable vehicle speeds and multiple, overlapping, time-dependent exclusion zones. In: Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology, pp. 79–84 (1992)
Tan, C.S., Sutton, R.: J, Chudley. Anincremental stochastic motion planning technique for autonomous underwater vehicles. In: Proceedings of IFAC Control Applications in Marine Systems Conference, pp. 483–488 (2004)
Petres, C., Pailhas, Y., Petillot, Y., Lane, D.: Underwater path planning using fast marching algorithms. In: Oceans 2005-Europe, vol. 2, pp. 814–819 (2005)
Garau, B., ´ Alvarez, A., Oliver, G.: Path Planning of Autonomous UnderwaterVehicles in Current Fields with Complex Spatial Variability: an A* Approach. In: Proc. 2005 IEEE International Conference on Robotics and Automation, pp. 194–198 (2005)
Rao, D., Williams, S.B.: Large-scale path planning forUnderwater Gliders in ocean currents. In: Australasian Conference on Robotics and Automation (ACRA), Sydney, December 2-4 (2009)
Fernandez-Perdomo, E., Cabrera-Gamez, J., Hernandez-Sosa, D., Isern-Gonzalez, J., Dominguez-Brito, A.C., Redondo, A., et al.: Path planning for gliders using Regional OceanModels: Application of Pinzón path planner with the ESEOAT model and the RU27 trans-Atlantic flight data. In: OCEANS 2010 IEEE - Sydney, pp. 1–10 (2010)
Soulignac, M., Taillibert, P., Rueher, M.: Adapting the wavefront expansion in presence of strong currents. In: Proceedings of the 2008 IEEE International Conference on Robotics and Automation, pp. 1352–1358 (2008)
Soulignac, M.: Feasible and Optimal Path Planning in Strong Current Fields. IEEE Trans. Robot. 27(1), 89–98 (2011)
Soulignac, M., Taillibert, P., Rueher, M.: Time-minimal Path Planning in Dynamic Current Fields. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation (2009)
Isern-Gonzalez, J., Hernandez-Sosa, D., Fernandez-Perdomo, E., Cabrera-Gamez, J., Dominguez-Brito, A.C., Prieto-Maranon, V.: Path planning for underwater gliders using iterative optimization. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), May 9-13, pp. 1538–1543 (2011)
Leonard, N.E., Graver, J.G.: Model-based feedback control of autonomous underwater gliders. IEEE J. Ocean. Eng. 26(4), 633–645 (2001)
Graver, J.G.: Underwater glider s: Dynamics, control, and design.Ph.D. dissertation, Dept. Mech. Aerosp. Eng. Princeton Univ., Princeton, NJ (2005)
Mahmoudian, N., Woolsey, C.: Underwater glider motion control. In: Proc. 47th IEEE Conf. Decision Control, Cancun, Mexico, December 9-11, pp. 552–557 (2008)
Yu, J., Zhang, F., Zhang, A., Jin, W., Tian, Y.: Motion parameter optimization and sensor scheduling for the sea-wing underwater glider. IEEE Journal of Oceanic Engineering, 243–254 (2013)
Zhu, X., Yu, J., Wang, X.: Sampling path planning of underwater glider for energy consumption. Robot 33(3), 360–365 (2011)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Zhou, Y., Yu, J., Wang, X. (2014). Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8917. Springer, Cham. https://doi.org/10.1007/978-3-319-13966-1_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-13966-1_14
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13965-4
Online ISBN: 978-3-319-13966-1
eBook Packages: Computer ScienceComputer Science (R0)