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Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion

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Abstract

In this paper, a path planning system is proposed for optimal rendezvous of multiple underwater gliders in three-dimensional (3D) space. Inspired by the Dubins Paths consisting of straight lines and circular arcs, this paper presents the first attempt to extend the 3D Dubins curve to accommodate the characteristic glider motions include upwards and downwards straight glides in a sawtooth pattern and gliding in a vertical spiral. This modified 3D Dubins scheme is combined with genetic algorithm (GA), together with a rendezvous position selection scheme to find rendezvous trajectories for multiple gliders with minimal energy consumption over all participating vehicles. The properties and capabilities of the proposed path planning methodology are illustrated for several rendezvous mission scenarios. First, a simple application was performed for a single glider to rendezvous with a fix dock. Simulation results show the proposed planner is able to obtain more optimized trajectories when compared with the typical Dubins trajectory with nominal velocity. Additional representative simulations were run to analyse the performance of this path planner for multiple gliders rendezvous. The results demonstrate that the proposed path planner identifies the optimal rendezvous location and generates the corresponding rendezvous trajectories for multiple gliders that ensures they reach their destination with optimized energy consumption.

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Authors and Affiliations

  1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Junliang Cao, Junjun Cao, Zheng Zeng, Baoheng Yao & Lian Lian

  2. Institute of Oceanology, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zheng Zeng, Baoheng Yao & Lian Lian

  3. Qingdao Collaborative Innovation Center of Marine Science and Technology, Qingdao, China

    Zheng Zeng, Baoheng Yao & Lian Lian

Authors
  1. Junliang Cao
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  2. Junjun Cao
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  3. Zheng Zeng
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  4. Baoheng Yao
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  5. Lian Lian
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Correspondence to Zheng Zeng or Lian Lian.

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Cao, J., Cao, J., Zeng, Z. et al. Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion. J Intell Robot Syst 85, 189–206 (2017). https://doi.org/10.1007/s10846-016-0382-8

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  • DOI: https://doi.org/10.1007/s10846-016-0382-8

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