Planning method for AUV region detection under ocean current |
| |
Authors: | Zhang Ming-jun Han Zhi-xue |
| |
Institution: | (1) School of Mechanical and Electrical Engineering, Harbin Engineering University, 150001 Harbin, China |
| |
Abstract: | In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach. |
| |
Keywords: | AUV ocean current region detection planning method |
本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录! |