NDLI: Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion

Content Provider	Springer Nature Link
Author	Cao, Junliang Cao, Junjun Zeng, Zheng Yao, Baoheng Lian, Lian
Copyright Year	2016
Abstract	In this paper, a path planning system is proposed for optimal rendezvous of multiple underwater gliders in three-dimensional (3D) space. Inspired by the Dubins Paths consisting of straight lines and circular arcs, this paper presents the first attempt to extend the 3D Dubins curve to accommodate the characteristic glider motions include upwards and downwards straight glides in a sawtooth pattern and gliding in a vertical spiral. This modified 3D Dubins scheme is combined with genetic algorithm (GA), together with a rendezvous position selection scheme to find rendezvous trajectories for multiple gliders with minimal energy consumption over all participating vehicles. The properties and capabilities of the proposed path planning methodology are illustrated for several rendezvous mission scenarios. First, a simple application was performed for a single glider to rendezvous with a fix dock. Simulation results show the proposed planner is able to obtain more optimized trajectories when compared with the typical Dubins trajectory with nominal velocity. Additional representative simulations were run to analyse the performance of this path planner for multiple gliders rendezvous. The results demonstrate that the proposed path planner identifies the optimal rendezvous location and generates the corresponding rendezvous trajectories for multiple gliders that ensures they reach their destination with optimized energy consumption.
Starting Page	189
Ending Page	206
Page Count	18
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	85
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-06-08
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Path planning 3D Dubins path Energy consumption Rendezvous planning Multiple underwater gliders Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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