Energy Efficient Path Planning of Autonomous Underwater Vehicles for Environment Modeling

被引：0
|
作者：
Lu, Diyuan [1 ]
Cui, Rongxin [1 ]
Wang, Ping [2 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Peoples R China
[2] PLA 91286, Dept Informat Technol, Qingdao, Peoples R China
来源：
PROCESSING OF 2014 INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INFORMATION INTEGRATION FOR INTELLIGENT SYSTEMS (MFI) | 2014年
关键词：
GAUSSIAN-PROCESSES; MOBILE;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.
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页数：6
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