Energy efficient path planning of autonomous underwater vehicles for environment modeling

Diyuan Lu; Rongxin Cui; Ping Wang

doi:10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling

Diyuan Lu
, Rongxin Cui
, Ping Wang

航海学院

Northwestern Polytechnical University Xian
Pla

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
ISBN（电子版）	9781479967322
DOI	https://doi.org/10.1109/MFI.2014.6997716
出版状态	已出版 - 23 12月 2014
活动	2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 - Beijing, 中国期限: 28 9月 2014 → 30 9月 2014

出版系列

姓名	Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014

会议

会议	2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
国家/地区	中国
市	Beijing
时期	28/09/14 → 30/09/14

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/MFI.2014.6997716

其它文件与链接

链接到 Scopus 的出版物

引用此

Lu, D., Cui, R., & Wang, P. (2014). Energy efficient path planning of autonomous underwater vehicles for environment modeling. 在 Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 文章 6997716 (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI.2014.6997716

Lu, Diyuan ; Cui, Rongxin ; Wang, Ping. / Energy efficient path planning of autonomous underwater vehicles for environment modeling. Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014).

@inproceedings{3a06e521815e4a4884b61c41388f277c,

title = "Energy efficient path planning of autonomous underwater vehicles for environment modeling",

abstract = "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.",

author = "Diyuan Lu and Rongxin Cui and Ping Wang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 ; Conference date: 28-09-2014 Through 30-09-2014",

year = "2014",

month = dec,

day = "23",

doi = "10.1109/MFI.2014.6997716",

language = "英语",

series = "Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014",

}

Lu, D, Cui, R & Wang, P 2014, Energy efficient path planning of autonomous underwater vehicles for environment modeling. 在 Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014., 6997716, Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014, Institute of Electrical and Electronics Engineers Inc., 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014, Beijing, 中国, 28/09/14. https://doi.org/10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling. / Lu, Diyuan; Cui, Rongxin; Wang, Ping.
Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 6997716 (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Energy efficient path planning of autonomous underwater vehicles for environment modeling

AU - Lu, Diyuan

AU - Cui, Rongxin

AU - Wang, Ping

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 - https://www.scopus.com/pages/publications/84921266703

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 -

Lu D, Cui R, Wang P. Energy efficient path planning of autonomous underwater vehicles for environment modeling. 在 Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc. 2014. 6997716. (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014). doi: 10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

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