NDLI: Multi-resolution path planning for marine surface vehicle considering environmental effects

Content Provider	IEEE Xplore Digital Library
Author	TaeHwan Lee Hyun Chung Hyun Myung
Copyright Year	2011
Description	Author affiliation: Division of Ocean Systems Engineering, KAIST, 291 Daehak-ro(373-1 Guseong-dong), Yuseong-gu, Daejeon 305-701, Republic of Korea (TaeHwan Lee) \|\| Division of Ocean Systems Engineering, KAIST (Hyun Chung) \|\| Department of Civil and Environmental Engineering, Robotics Program, KAIST (Hyun Myung)
Abstract	For ship navigation, many researchers have adopted ideas from traditional robot navigation technology. In most cases, however, they haven't considered sufficiently, or even ignored sometimes, hydrodynamic or aerodynamic effects in ocean environment when they perform path planning. This may result in waste of enormous energy or sometimes induce potential collision risk. We should consider much more about environmental effects than in path planning on land, since sometimes navigation in ocean environment is more likely to navigate the vehicle on the terrain where several different vector and scalar forces exist. The real-time control itself is essential indeed in navigation problem for unexpected collision avoidance, however, we can save the power and even reduce collision risks by considering environmental effects earlier, in path planning step, through reducing the error between a predetermined path from path planning and the actual position of a vehicle. Considering external loads in the path planning step is also more desirable rather than in the path following step because computational resource is limited in field operations in most cases. If the shallow water effect as well as tidal currents and winds for the surface ship navigation are considered, more economical and thus efficient path can be found. Incorporating this concept together, more realistic and practical route can be generated, and ship domain for collision avoidance also can be reduced reasonably. The proposed path planning considering environmental effects was examined through computer simulations for validation.
Starting Page	1
Ending Page	9
File Size	1189715
Page Count	9
File Format	PDF
ISBN	9781457700866
e-ISBN	9781457700880
DOI	10.1109/Oceans-Spain.2011.6003669
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine vehicles Path planning Vehicles Immune system Navigation Cost function Oceans
Content Type	Text
Resource Type	Article

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