论文标题
随着时变环境中自动水下车辆的最佳路由策略
Optimal Routing Strategies for Autonomous Underwater Vehicles in Time-Varying Environment
论文作者
论文摘要
本文介绍了一个任务系统，其中在基于图形方法的时间变化环境中实施了用于路径计划的算法。引入的路径计划算法的基本任务是找到一条从定义的起始位置到目标位置的时间最佳路径，考虑到自动驾驶水下车辆（AUV）的时变海洋电流。在此基础上，本文讨论了计划中其他面向练习的注意事项。这样的观点是讨论加速算法和确定最佳出发时间的可能方法。本文介绍的解决方案和算法侧重于``Slocum Glider''的路径规划要求。这些算法同样适用于其他AUV或空中移动自主系统。
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path from a defined start position to a goal position with consideration of the time-varying ocean current for an autonomous underwater vehicle (AUV). Building on this, additional practice-oriented considerations in planning are discussed in this paper. Such points are the discussion of possible methods to accelerate the algorithms and the determination of the optimal departure time. The solutions and algorithms presented in this paper are focused on path planning requirements for the AUV ``SLOCUM Glider''. These algorithms are equally applicable to other AUVs or aerial mobile autonomous systems.
