文章基本信息

标题：Path planning for underwater glider under control constraint
本地全文：下载
作者：Yanji Liu ; Jie Ma ; Ning Ma 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2017
卷号：9
期号：8
DOI：10.1177/1687814017717187
语种：English
出版社：Sage Publications Ltd.
摘要：Energy saving is important for the underwater gliders because they have limited onboard battery power. A novel optimal three-dimensional path planning method is introduced in this article, which has low energy consumption and is useful for the path planning of underwater gliders. The method is derived using optimization theory. In the planning process, the constrained control does not pass the zero point to obtain the turning path formed by the unidirectional arc. Then, the method is extended to three dimensions, which includes depth parameter. For the more complicated median-depth path, glider’s glide distance is increased by extending the turning radius, in order to achieve the end state. Compared with the traditional three-dimensional Dubins path, the simulation results indicated that the proposed optimal path leads to the glide with a lower energy consumption.
关键词：Underwater glider; path planning; Dubins paths; three-dimensional paths; optimal control