Planning repair for autonomous underwater vehicle

被引：0
|
作者：
Zhang, Rubo [1 ,2 ]
Liu, Yuanyuan [1 ]
Su, Hang [2 ]
Chen, Heng [1 ]
机构：
[1] College of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China
[2] College of Electromechanical and Information Engineering, Dalian Nationalities University, Dalian 116600, Liaoning, China
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2013年 / 41卷 / SUPPL.I期
关键词：
Autonomous navigation - Autonomous underwater vehicles (AUV) - AUV (autonomous underwater vehicle) - Re-planning - Real time performance - Repair methods - Uncertain operating environments - Visual simulation;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Based on combining the dynamic weight LPA* algorithm with the threat-based variable steps rolling time domain prediction strategy, a method of planning repair for autonomous underwater vehicle(AUV) in the process of performing job tasks was proposed which required to deal with the complex and uncertain operating environment. This method solved the problem of planning repair when the AUV encountered unexpected threat during the voyage. Combined with AUV autonomous navigation tasks, the proposed planning repair method was tested and verified by visual simulation. The results show that this method is feasible and effective compared with the completely replanning, and improves the AUV planning success rate and efficiency, shortens the planning time. This method meets the real-time performance requirement.
引用
收藏
页码：81 / 84
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