Optimal Routing Strategies for Autonomous Underwater Vehicles in Time-Varying Environment

Abstract

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.

arXiv comment12 pages, 13 figures. arXiv admin note: substantial text overlap with arXiv:1702.08101, arXiv:1702.08104

References in corpus (5)

• Mixing in a Meandering Jet: a Markovian Approximation
• Solutions for Practice-oriented Requirements for Optimal Path Planning for the AUV "SLOCUM Glider"
• A New Concept for an Obstacle Avoidance System for the AUV "SLOCUM Glider" Operation under Ice
• A Mission Planning System for the AUV "SLOCUM Glider" for the Newfoundland and Labrador Shelf
• Opportunities to Parallelize Path Planning Algorithms for Autonomous Underwater Vehicles

Cited by in corpus (5)

• A Novel Versatile Architecture for Autonomous Underwater Vehicle's Motion Planning and Task Assignment
• A Novel Efficient Task-Assign Route Planning Method for AUV Guidance in a Dynamic Cluttered Environment
• Flow-Based Control of Marine Robots in Gyre-Like Environments
• Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows
• An Autonomous Reactive Architecture for Efficient AUV Mission Time Management in Realistic Severe Ocean Environment