Go with the flow : optimal AUV path planning in coastal environments
Witt, Jonas & Dunbabin, Matthew (2009) Go with the flow : optimal AUV path planning in coastal environments. In Kim, Jonghyuk & Mahony, Robert (Eds.) Proceedings of the 2008 Australasian Conference on Robotics & Automation, Australasian Robotics and Automation Association (ARAA), Canberra, ACT, Australia, pp. 1-9.
This paper describes a novel optimum path planning strategy for long duration AUV operations in environments with time-varying ocean currents. These currents can exceed the maximum achievable speed of the AUV, as well as temporally expose obstacles. In contrast to most other path planning strategies, paths have to be defined in time as well as space. The solution described here exploits ocean currents to achieve mission goals with minimal energy expenditure, or a tradeoff between mission time and required energy. The proposed algorithm uses a parallel swarm search as a means to reduce the susceptibility to large local minima on the complex cost surface. The performance of the optimisation algorithms is evaluated in simulation and experimentally with the Starbug AUV using a validated ocean model of Brisbane’s Moreton Bay.
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|Item Type:||Conference Paper|
|Keywords:||AUV path planning, Long duration AUV operations, Environments with time-varying ocean currents, Moreton Bay, Brisbane|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2009 Australasian Robotics and Automation Association (ARAA)|
|Deposited On:||19 Mar 2014 22:38|
|Last Modified:||02 Apr 2014 07:04|
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