Cooperative path planning of multiple autonomous underwater vehicles operating in dynamic ocean environment
dc.contributor.author | Zhuang, Y | |
dc.contributor.author | Huang, H | |
dc.contributor.author | sharma, sanjay | |
dc.contributor.author | Xu, D | |
dc.contributor.author | Zhang, Q | |
dc.date.accessioned | 2019-05-09T16:22:07Z | |
dc.date.available | 2019-05-09T16:22:07Z | |
dc.date.issued | 2019-04-26 | |
dc.identifier.issn | 0019-0578 | |
dc.identifier.issn | 1879-2022 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/13805 | |
dc.description.abstract |
This paper presents a two-stage cooperative path planner for multiple autonomous underwater vehicles operating in dynamic environment. In case of static environment, global Legendre pseudospectral method is employed for collision-free paths of vehicles for the purpose of minimum time consumption and simultaneous arrival. Moreover, in order to keep the multiple autonomous underwater vehicles safe from collisions on the path segments connecting two adjacent control nodes, an adaptive intermediate knots insertion algorithm is introduced. In the on-line planning stage, the local re-planning strategy aims at avoiding collisions with unexpected dynamic obstacles by two consecutive avoidance maneuvers, and the differential flatness property of autonomous underwater vehicle is utilized, which can help the vehicles react fast enough to avoid moving obstacles. | |
dc.format.extent | 174-186 | |
dc.format.medium | Print-Electronic | |
dc.language | en | |
dc.language.iso | en | |
dc.publisher | Elsevier | |
dc.subject | Autonomous underwater vehicles (AUVs) | |
dc.subject | Collision avoidance | |
dc.subject | Cooperative path planning | |
dc.subject | Differential flatness | |
dc.subject | Legendre pseudospectral method | |
dc.title | Cooperative path planning of multiple autonomous underwater vehicles operating in dynamic ocean environment | |
dc.type | journal-article | |
dc.type | Journal Article | |
plymouth.author-url | https://www.ncbi.nlm.nih.gov/pubmed/31047643 | |
plymouth.volume | 94 | |
plymouth.publication-status | Published | |
plymouth.journal | ISA Transactions | |
dc.identifier.doi | 10.1016/j.isatra.2019.04.012 | |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering | |
plymouth.organisational-group | /Plymouth/Research Groups | |
plymouth.organisational-group | /Plymouth/Research Groups/Marine Institute | |
plymouth.organisational-group | /Plymouth/Users by role | |
plymouth.organisational-group | /Plymouth/Users by role/Academics | |
dc.publisher.place | United States | |
dcterms.dateAccepted | 2019-04-13 | |
dc.rights.embargodate | 2020-4-25 | |
dc.identifier.eissn | 1879-2022 | |
dc.rights.embargoperiod | Not known | |
rioxxterms.versionofrecord | 10.1016/j.isatra.2019.04.012 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.licenseref.startdate | 2019-04-26 | |
rioxxterms.type | Journal Article/Review |