| Path planning for multipoint seabed survey mission using autonomous underwater vehicle | |
An Y(安阳)1,2; Xu GF(徐高飞)1,2 ; Xu CH(徐春晖)1; Zhao HY(赵宏宇)1; Liu J(刘健)1
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| Department | 水下机器人研究室 |
| Conference Name | OCEANS 2017 MTS/IEEE Anchorage |
| Conference Date | September 18-21, 2017 |
| Conference Place | Anchorage, USA |
| Source Publication | OCEANS 2017 MTS/IEEE Anchorage |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2017 | |
| Pages | 1-5 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20182405297558 |
| WOS ID | WOS:000455012000240 |
| Contribution Rank | 1 |
| ISBN | 978-0-692-94690-9 |
| Keyword | Autonomous Underwater Vehicles Path Planning Multipoint Seabed Survey K-means Clustering Ant Colony Algorithm |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/22111 |
| Collection | 水下机器人研究室 |
| Corresponding Author | An Y(安阳) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
| Recommended Citation GB/T 7714 | An Y,Xu GF,Xu CH,et al. Path planning for multipoint seabed survey mission using autonomous underwater vehicle[C]. NEW YORK:IEEE,2017:1-5. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| Path planning for mu（360KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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