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Path Planning for Underwater Gliders with Motion Constraints

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

Abstract

The underwater glider technology is a promising ocean observing technique. This paper presents path planning for underwater gliders as they travel in the water. The objective is that the underwater glider arrives at the destined depth while avoiding the obstacles in the way. Artificial potential field approach is used in the path planning algorithm, which is featured by adding motion constraints of the underwater glider into path generation.

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Acknowledgments

The authors thank the reviewers for their constructive comments. We also gratefully acknowledge the support from the National Natural Science Foundation of China (Grant No. 51205277, 51475319) and State Oceanic Administration of China (Grant No. cxsf2014-33).

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Zhiliang Wu, Mengyuan Zhao, Yanhui Wang, Yuhong Liu, Hongwei Zhang & Shuxin Wang

  2. National Ocean Technology Center, 219 Jieyuanxi Rd, Nankai District, Tianjin, 300112, China

    Ermai Qi

Authors
  1. Zhiliang Wu
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  2. Mengyuan Zhao
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  3. Yanhui Wang
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  4. Yuhong Liu
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  5. Hongwei Zhang
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  6. Shuxin Wang
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  7. Ermai Qi
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Corresponding author

Correspondence to Zhiliang Wu .

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Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Wu, Z. et al. (2017). Path Planning for Underwater Gliders with Motion Constraints. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_1

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_1

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

  • eBook Packages: EngineeringEngineering (R0)

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