کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1725414 1520683 2015 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Energy efficient path planning for a marine surface vehicle considering heading angle
ترجمه فارسی عنوان
برنامه ریزی برای صرفه جویی در انرژی برای یک وسیله نقلیه سطح دریایی با توجه به زاویه سمت
کلمات کلیدی
برنامه ریزی مسیر هزینه انرژی، وسیله نقلیه دریایی، اثرات زیست محیطی اقیانوس زاویه ی عنوان
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی


• We propose an energy-optimal path planning algorithm for a marine surface vehicle.
• We consider environmental effects such as tidal current and water depth effect.
• We employ a realistic energy-based cost function considering the vehicle shape.
• It generates way-points satisfying given heading angles and turning ability.
• We compare our result with that of distance-based A* algorithm.

Ocean environmental effects such as current, wind, water depth, and wave effects on a surface vehicle should be considered when planning the path of a marine surface vehicle, even though their complexity makes computation in a short time challenging. Moreover, the mechanical handling devices such as cranes installed on the deck floor of a surface vehicle can also severely confine a vehicle׳s heading angle at the goal point, especially in a docking or loading/unloading situation. This paper proposes the EEA* algorithm, a deterministic and energy-based 3-dimensional (3-D: x, y, and θ) path planning method for a marine surface vehicle on a 2-dimensional (2-D: x, y) surface plane that considers ocean environmental effects and the heading angle. The proposed path planner uses a realistic energy cost considering the loads on a vehicle due to tidal current and limited water-depth based on a given ship geometry. It also considers the vehicle׳s turning ability, thus generating more feasible way-points for real travel while satisfying heading angle constraints. By considering both effects in the path planning step, a more energy-efficient and maneuverable path can be found. Resultant paths and their costs are compared through various simulations in different environmental conditions with those of a classical distance-based A* algorithm, the DA* algorithm which is widely used in most applications.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 107, 1 October 2015, Pages 118–131
نویسندگان
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