کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8062215 1520629 2018 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
An energy-efficient path planning algorithm for unmanned surface vehicles
ترجمه فارسی عنوان
یک الگوریتم برنامه ریزی مسیر انرژی برای وسایل نقلیه بدون سرنشین
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی
The sea current state affects the energy consumption of Unmanned Surface Vehicles (USVs) significantly and the path planning approach plays an important role in determining how long the USV can travel. To improve the endurance of the USV, an energy efficient path planning approach for computing feasible paths for USVs that takes the energy consumption into account based on sea current data is proposed. The approach also ensures that the USV remains at a user-configurable safety distance away from all islands and coastlines. In the proposed approach, Voronoi diagram, Visibility graph, Dijkstra's search and energy consumption function are combined, which allows USVs to avoid obstacles while at the same time using minimum amount of energy. The Voronoi-Visibility (VV) energy-efficient path and the corresponding shortest path were simulated and compared for ten missions in Singapore Strait and five missions for islands off the coast of Croatia. Impact of parameters such as mission time, the USV speed and sea current state on the results were analysed. It is shown that the proposed VV algorithm improves the quality of the Voronoi energy efficient path while keeping the same level of computational efficiency as that of the Voronoi energy efficient path planning algorithm.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 161, 1 August 2018, Pages 308-321
نویسندگان
, , , ,