| 能耗最优的水下滑翔机采样路径规划 |
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| 引用本文： | 朱心科,俞建成,王晓辉. 能耗最优的水下滑翔机采样路径规划[J]. 机器人, 2011, 33(3): 360-365. DOI: 10.3724/SP.J.1218.2011.00360 |
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| 作者姓名： | 朱心科 俞建成 王晓辉 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016 |
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| 基金项目： | 中国科学院知识创新工程(KZCX2-YW-JS205); 机器人学国家重点实验室创新课题(RLZ200810) |
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| 摘 要： | 研究了以能耗为优化准则的水下滑翔机海洋环境参数采样路径规划方法.首先,根据水下滑翔机的运动特点,建立了水下滑翔机采样作业过程的能耗模型;其次,基于能耗模型提出了一种能耗最小的滑翔运动参数优化方法,该方法避免了求解复杂的混合整数非线性规划问题;之后,在能耗最优的滑翔运动参数优化基础上,提出了一种基于两步链式Lin-Ker...
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| 关 键 词： | 水下滑翔机 能耗最优 海洋采样 路径规划 两步链式Lin-Kernighan |
Sampling Path Planning of Underwater Glider for Optimal Energy Consumption |
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| ZHU Xinke,YU Jiancheng,WANG Xiaohui. Sampling Path Planning of Underwater Glider for Optimal Energy Consumption[J]. Robot, 2011, 33(3): 360-365. DOI: 10.3724/SP.J.1218.2011.00360 |
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| Authors: | ZHU Xinke YU Jiancheng WANG Xiaohui |
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| Affiliation: | ZHU Xinke~(1,2),YU Jiancheng~1,WANG Xiaohui~1 (1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China,2.Graduate School of the Chinese Academy of Sciences,Beijing 100049,China) |
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| Abstract: | An approach to path planning for ocean sampling of underwater glider is studied based on the criterion of energy consumption.Firstly,according to the motion feature of underwater glider,the energy consumption model of the underwter glider during ocean sampling course is constructed.Secondly,given the energy consumption model,an approach to optimize the gliding parameters is proposed,which can avoid solving mixed integer nonlinear programming problem.Sequently, two-step chained Lin-Kernighan algorithm is dev... |
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| Keywords: | underwater glider optimal energy consumption ocean sampling path planning two-step chained Lin-Kernighan |
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