TY - GEN
T1 - Energy efficient path planning of autonomous underwater vehicles for environment modeling
AU - Lu, Diyuan
AU - Cui, Rongxin
AU - Wang, Ping
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.
AB - In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84921266703&partnerID=8YFLogxK
U2 - 10.1109/MFI.2014.6997716
DO - 10.1109/MFI.2014.6997716
M3 - 会议稿件
AN - SCOPUS:84921266703
T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Y2 - 28 September 2014 through 30 September 2014
ER -
