کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5474688 1520661 2017 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A multi-layered fast marching method for unmanned surface vehicle path planning in a time-variant maritime environment
ترجمه فارسی عنوان
روش چند لایه سریع راهپیمایی برای برنامه ریزی مسیر مسلسل بدون سرنشین در یک محیط دریایی زمانی
کلمات کلیدی
بی نظیر سریع راهپیمایی، محیط دریایی، برنامه ریزی مسیر جریانهای سطحی، وسیله نقلیه بدون سرنشین،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی
Concerns regarding the influence of the marine environment, such as surface currents and winds, on autonomous marine vehicles have been raised in recent years. A number of researchers have been working on the development of intelligent path planning algorithms to minimise the negative effects of environmental influences, however most of this work focuses on the platform of autonomous underwater vehicles (AUVs) with very little work on unmanned surface vehicles (USVs). This paper presents a novel multi-layered fast marching (MFM) method developed to generate practical trajectories for USVs when operating in a dynamic environment. This method constructs a synthetic environment framework, which incorporates the information of planning space and surface currents. In terms of the planning space, there are repelling and attracting forces, which are evaluated using an attractive/repulsive vector field construction process. The influence of surface currents is weighted against the obstacles in the planning space using a 4-regime risk strategy. A trajectory is then calculated using the anisotropic fast marching method. The complete algorithm has been tested and validated using simulated surface currents, and the performance of generated trajectories have been evaluated in terms of different optimisation criteria, such as the distance and energy consumption.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 129, 1 January 2017, Pages 301-317
نویسندگان
, , ,