Path planning for multipoint seabed survey mission using autonomous underwater vehicle
文献类型：会议论文
| 作者 | Zhao HY(赵宏宇); Liu J(刘健); An Y(安阳); Xu GF(徐高飞); Xu CH(徐春晖); Zhao JM(赵剑明) ; Shang WL(尚文利); Ceng P(曾鹏)
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| 出版日期 | 2017 |
| 会议名称 | OCEANS 2017 MTS/IEEE Anchorage |
| 会议日期 | September 18-21, 2017 |
| 会议地点 | Anchorage, USA |
| 关键词 | Autonomous Underwater Vehicles Path planning Multipoint seabed survey K-means clustering Ant colony algorithm |
| 页码 | 1-5 |
| 通讯作者 | An Y(安阳) |
| 中文摘要 | This paper focuses on the problem of seabed survey mission with multiple target points distributed in large scale area. To complete the survey with AUVs in minimum cost, a two-step procedure using greed strategy is presented. In the first step, the locations of so-called anchor points are found by executing k-means algorithm iteratively. In the second step, an ant-cycle system is used to find out the optimized order of access from each anchor point to target points nearby. Simulation is also implemented to prove the validity of the algorithm. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2017 MTS/IEEE Anchorage
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-0-692-94690-9 |
| 源URL | [http://ir.sia.cn/handle/173321/22090]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Zhao JM(赵剑明) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Zhao HY,Liu J,An Y,et al. Path planning for multipoint seabed survey mission using autonomous underwater vehicle[C]. 见:OCEANS 2017 MTS/IEEE Anchorage. Anchorage, USA. September 18-21, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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