The routing problem of autonomous underwater vehicles in ocean currents
The routing problem of autonomous underwater vehicles in ocean currents
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DOI：
10.1109/oceans-taipei.2014.6964486
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发表时间：
2014-04
期刊：
影响因子：
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通讯作者：
Weisheng Yan;Xiaoshan Bai;Xingguang Peng;L. Zuo;Jiguo Dai
中科院分区：
文献类型：
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作者：
Weisheng Yan;Xiaoshan Bai;Xingguang Peng;L. Zuo;Jiguo Dai
针对自主式水下航行器（AUV）向分散位置的使命目标交付定制传感器包的路由问题，提出了一种新的路由算法。我们的目标是利用一组AUV服务所有目标的前提下，个别有限的传感器包的负载能力，同时保证最小的总能量成本在洋流的存在下，一次。该算法的主要思想是将初始路由问题分解为两个子问题：目标分配和目标间子路径的生成。将分支定界法和速度综合法相结合，提出了一种集成的使命分配和路径规划算法。仿真结果验证了该算法的有效性和高效性。
This paper considers a novel algorithm for the routing problem of autonomous underwater vehicles (AUVs) in order to deliver customized sensor packages to mission targets at scattered positions. We aim to utilize a set of AUVs to serve all the targets for exactly once on the premise of individual limited sensor packages loading ability while guaranteeing the least total energy cost in the presence of ocean currents. The main idea of the algorithm is based on the decomposition of the initial routing problem into two subproblems: the assignment of targets and the generation of sub-path between the targets. We present an integrated mission assignment and path planning algorithm which is proposed by combing the branch and bound method and a velocity synthesis approach. The effectiveness and efficiency of the proposed algorithm are verified by simulation results.