机器人2018，Vol.40Issue(1)：1-7,7.DOI:10.13973/j.cnki.robot.170130
基于局部流场构建的水下滑翔机路径规划
Underwater Glider Path Planning Based on Local Flow Field Construction
摘要
Abstract
A path planning method for underwater glider is proposed based on local flow field construction. Firstly, the depth-averaged currents from the future profiles are predicted based on the depth-averaged currents from the historical profiles, and their positions are determined as well. Then several depth-averaged currents from the top profiles are taken as the observations, and a local flow field is constructed by the objective analysis technology. Finally, CTS-A*(constant time surfacing A*) iterative algorithm is applied to path planning based on the constructed flow field. In the simulation environments, the path planning method is tested in a single flow map and numerous flow maps, and the results are analyzed. The results show that the path planning method can apply to the situations of ordinary ocean currents and strong ocean currents.关键词
水下滑翔机/路径规划/局部流场构建Key words
underwater glider/path planning/local flow field construction分类
信息技术与安全科学引用本文复制引用
周耀鉴,刘世杰,俞建成,王晓辉..基于局部流场构建的水下滑翔机路径规划[J].机器人,2018,40(1):1-7,7.基金项目
国家自然科学基金重点项目(612330131). （612330131）
