2012
DOI: 10.14198/jopha.2012.6.1.03
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Obstacle avoidance in underwater glider path planning

Abstract: Abstract-Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed makes them strongly affected by ocean currents. Path planning constitutes a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to find an o… Show more

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Cited by 9 publications
(7 citation statements)
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“…Further strategies to address underwater glider path planning (UGPP) under complex scenarios (static and dynamic obstacles) are discussed in [10], as the classical path planning might not be adequate. Those strategies include pointing the vehicle to the destination and make small adjustments during the mission or in adverse zones position the vehicle across the current, in order to reach a place with weaker and/or more favourable currents.…”
Section: Underwater Glider Path Planningmentioning
confidence: 99%
“…Further strategies to address underwater glider path planning (UGPP) under complex scenarios (static and dynamic obstacles) are discussed in [10], as the classical path planning might not be adequate. Those strategies include pointing the vehicle to the destination and make small adjustments during the mission or in adverse zones position the vehicle across the current, in order to reach a place with weaker and/or more favourable currents.…”
Section: Underwater Glider Path Planningmentioning
confidence: 99%
“…Path planning through 102 unsteady flow-fields has received far less attention in 103 comparison. The challenge here is that the currents di-104 rectly affect the displacement of the vehicle, making 105 the cost of movement variable, and anisotropic at dif-106 ferent points in space (Isern-Gonzalez et al, 2012). In 107 this case, even the seemingly simple task of generating 108 feasible tracks becomes challenging.…”
Section: Prior Work 91mentioning
confidence: 99%
“…AUV route planning model needs to consider a lot of constraints to ensure voyage safety during route planning, including the AUV's own physical limits, the concealment of route, real-time demand and requirements of voyage tasks, etc. [3].…”
Section: Introductionmentioning
confidence: 99%