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Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm

文献类型：期刊论文

作者Pan, Zuodong2,3; Guo, Wei1,3; Sun, Hongming1,3; Zhou, Yue2; Lan, Yanjun3
刊名JOURNAL OF MARINE SCIENCE AND ENGINEERING
出版日期2023-10-01
卷号11期号:10页码:19
关键词deep-sea landing vehicle the Safety Energy-Dynamic Window Approach algorithm safe low energy consumption autonomous sampling operations
DOI10.3390/jmse11101892
通讯作者Guo, Wei(guow@idsse.ac.cn) ; Zhou, Yue(y-zhou@shou.edu.cn)
英文摘要To ensure the safety and energy efficiency of autonomous sampling operations for a deep-sea landing vehicle (DSLV), the Safety Energy-Dynamic Window Approach (SE-DWA) algorithm was proposed. The safety assessment sub-function formed from the warning obstacle zone and safety factor addresses the safety issue arising from the excessive range measurement error of forward-looking sonar. The trajectory comparison evaluation sub-function with the effect of reducing energy consumption achieves a reduction in path length by causing the predicted trajectory to deviate from the historical trajectory when encountering "U"-shaped obstacles. The pseudo-power evaluation sub-function with further energy consumption reduction ensures optimal linear and angular velocities by minimizing variables when encountering unknown obstacles. The simulation results demonstrate that compared with the Minimum Energy Consumption-DWA algorithm, the SE-DWA algorithm improves the minimum distance to an actual obstacle zone by 68% while reducing energy consumption by 11%. Both the SE-DWA algorithm and the Maximum Safety-DWA (MS-DWA) algorithm ensure operational safety with minimal distance to the actual obstacle zone, yet the SE-DWA algorithm achieves a 24% decrease in energy consumption. In conclusion, the path planned by the SE-DWA algorithm ensures not only safety but also energy consumption reduction during autonomous sampling operations by a DSLV in the deep sea.
资助项目The authors thank the other members of the research group for their contributions to the research on the SE-DWA algorithm. And, the authors would like to thank the reviewers for their careful work.
WOS研究方向Engineering ; Oceanography
语种英语
出版者MDPI
WOS记录号WOS:001093556500001
资助机构The authors thank the other members of the research group for their contributions to the research on the SE-DWA algorithm. And, the authors would like to thank the reviewers for their careful work.
源URL[http://ir.idsse.ac.cn/handle/183446/10637]  
专题深海工程技术部_深海信息技术研究室
通讯作者Guo, Wei; Zhou, Yue
作者单位1.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
2.Shanghai Ocean Univ, Sch Engn, Shanghai 201306, Peoples R China
3.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China
推荐引用方式
GB/T 7714		 Pan, Zuodong,Guo, Wei,Sun, Hongming,et al. Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm[J]. JOURNAL OF MARINE SCIENCE AND ENGINEERING,2023,11(10):19.
APA Pan, Zuodong,Guo, Wei,Sun, Hongming,Zhou, Yue,&Lan, Yanjun.(2023).Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm.JOURNAL OF MARINE SCIENCE AND ENGINEERING,11(10),19.
MLA Pan, Zuodong,et al."Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm".JOURNAL OF MARINE SCIENCE AND ENGINEERING 11.10(2023):19.

入库方式： OAI收割

来源：深海科学与工程研究所

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