Path planning for gliders using Regional Ocean Models: Application of Pinz&amp;#x00F3;n path planner with the ESEOAT model and the RU27 trans-Atlantic flight data

Fernandez-Perdomo, Enrique; Cabrera‐Gámez, Jorge; Hernández-Sosa, Daniel; Isern-González, J.; Domínguez‐Brito, Antonio C.; Redondo, Alexandre; Coca, Josep; Ramos, Antonio G.; Fanjul, Enrique Álvarez; García, Marcos

doi:10.1109/oceanssyd.2010.5603684

Cited by 36 publications

(32 citation statements)

References 9 publications

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“…• CTS-A*: This method is a variant of A* where the time between two consecutive surfacing intervals is ensured constant [19]. As Fig.…”

Section: Each Of the Methods Chosen For Comparison Is Described Briefmentioning

confidence: 99%

“…Eichhorn in [18] proposes a combination of A* and Zermelo's optimal navigation formula to reduce the computational cost of the algorithm. In a previous work, we developed an algorithm the combines A* a sampling strategy [19], termed ConstantTime Surfacing A* (CTS-A*), which is included in the experimental results for comparison. Also, Soulignac's approach [5] incorporates local optimization for the running path found with the Wavefront Expansion algorithm.…”

Section: Review Of Related Workmentioning

confidence: 99%

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Single and multiple glider path planning using an optimization-based approach

Fernandez-Perdomo

Hernández-Sosa

Isern-González

et al. 2011

OCEANS 2011 IEEE - Spain

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Path planning for Unmanned Underwater Vehicles (UUVs) is a key issue for the success and efficiency of the missions these vehicles perform. This problem is very challenging, because it must cope with dynamic and uncertain models both for the vehicle and for the environment. In the case of ocean gliders, this aspect is critical due to the strong influence of ocean currents on the glider navigation.In this paper, we present a novel path planning scheme for gliders based on iterative optimization that shows promising results on realistic simulations, including highly time-dependent ocean currents. This method models the glider as an intelligent agent that senses the ocean currents speed and direction, and generates an path according to the predefined objectives. The method can be easily configured and adapted to various optimization problems. Here, we include an example of coordinated path planning, in which the paths of a fleet of gliders is optimized, subject to constraints. Also, the proposal reflects accurately the physical vehicle navigation and gives a superior performance when compared with other approaches.

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“…• CTS-A*: This method is a variant of A* where the time between two consecutive surfacing intervals is ensured constant [19]. As Fig.…”

Section: Each Of the Methods Chosen For Comparison Is Described Briefmentioning

confidence: 99%

Section: Review Of Related Workmentioning

confidence: 99%

Single and multiple glider path planning using an optimization-based approach

Fernandez-Perdomo

Hernández-Sosa

Isern-González

et al. 2011

OCEANS 2011 IEEE - Spain

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“…Predictions of ocean currents have previously been used by several research groups to improve the navigation capabilities of autonomous vehicles and improve the safety of their operation [7], [8]. Lower bounds on navigation error have also been derived to estimate the path following performance of underwater vehicles [9].…”

Section: Related Workmentioning

confidence: 99%

Learning uncertainty models for reliable operation of Autonomous Underwater Vehicles

Hollinger

Pereira

Sukhatme

2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-We discuss the problem of learning uncertainty models of ocean processes to assist in the operation of Autonomous Underwater Vehicles (AUVs) in the ocean. We focus on the prediction of ocean currents, which have significant effect on the navigation of AUVs. Available models provide accurate prediction of ocean currents, but they typically do not provide confidence estimates of these predictions. We propose augmenting existing prediction methods with variance measures based on Gaussian Process (GP) regression. We show that commonly used measures of variance in GPs do not accurately reflect errors in ocean current prediction, and we propose an alternative uncertainty measure based on interpolation variance. We integrate these measures of uncertainty into a probabilistic planner running on an AUV during a field deployment in the Southern California Bight. Our experiments demonstrate that the proposed uncertainty measures improve the safety and reliability of AUVs operating in the coastal ocean.

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“…Constraining the vehicle to move in an 8-connected grid also means that optimality is compromised in the graph discretisation alone, a continuous technique is desirable. Continuous planning techniques have been explored for both AUVs and gliders alike in [8][10] [11]and [12] .Without the constraining of 8-connective,the problem had been considered further in [9]and [13]. The gliding motion control of underwater gliders can be described by considering a typical diving and surfacing cycle, but we can only control the glider at the surfacing cycle for the unavailable underwater communication.…”

Section: Introductionmentioning

confidence: 99%

“…Meanwhile, in a typical cycle, compared with diving ,the time of surfacing can be neglected. Based on the above mentioned facts, authors of [9]and [13] proposed methods to determine optimal paths that account for the influence from ocean currents .…”

Section: Introductionmentioning

confidence: 99%

Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment

Zhou

Wang

2014

Intelligent Robotics and Applications

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Abstract. It is generally considered that the speed of underwater glider is the function of buoyancy and gliding angle. However, the buoyancy and gliding angle are adjustable, which makes the speed of underwater glider within an adjustable range, however, it is usually taken as a constant in current documentations. Considering the path planning in ocean currents, if the maximum speed of a glider can find a path that connects the start point and the target point, then it can decrease its consumption by adjusting its speed in current field of some regions to fit the favorable currents and overcome the influence of adverse currents. Based on the above facts, the paper presents a new path planning method of adjustable speed glider in currents, and the simulation result is shown. According to the result: compared with the path planning method in constant speed, the adjustable speed glider can utilize the current in a better way and save the consumption of energy in a further way.

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Path planning for gliders using Regional Ocean Models: Application of Pinzón path planner with the ESEOAT model and the RU27 trans-Atlantic flight data

Cited by 36 publications

References 9 publications

Single and multiple glider path planning using an optimization-based approach

Single and multiple glider path planning using an optimization-based approach

Learning uncertainty models for reliable operation of Autonomous Underwater Vehicles

Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment

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