ICRA 2011 Paper Abstract


Paper TuP211.3

Fernández-Perdomo, Enrique (Universidad de Las Palmas de Gran Canaria), Cabrera-Gámez, Jorge (Universidad de Las Palmas de Gran Canaria), Hernández-Sosa, Daniel (Universidad de Las Palmas de Gran Canaria), Isern-González, Josep (Universidad de Las Palmas de Gran Canaria), Dominguez-Brito, Antonio Carlos (DIS/SIANI - Universidad de Las Palmas de Gran Canaria), Prieto-Marañón, Víctor (Universidad de Las Palmas de Gran Canaria), Ramos, Antonio G. (Universidad de Las Palmas de Gran Canaria)

Adaptive Bearing Sampling for a Constant-Time Surfacing A* Path Planning Algorithm for Gliders

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics II" (TuP211), Tuesday, May 10, 2011, 15:55−16:10, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Marine Robotics, Motion and Path Planning


Unmanned Underwater Vehicles (UUVs) are commonly used in Oceanography due to their relative low cost and wide range of capabilities. Gliders are a kind of UUV particularly suitable for long-range missions because of their large autonomy. They change their buoyancy to dive and climb describing a vertical saw tooth pattern, which produces an effective but low horizontal speed. Consequently, gliders are strongly sensitive to ocean currents, so they might have to adapt the heading to the current field.

In this article we outline a novel path planning algorithm for gliders using ocean currents. It bases on the A* family of algorithms and incorporates a probabilistic framework. Our approach intends to alleviate some of the drawbacks that A* has with the problem at hand. Instead of discretizing the search space, a set of bearing angles is sampled at each surfacing point and the glider trajectory is integrated. We propose an Adaptive Bearing Sampling (ABS) procedure which reduces the computational time with low impact on the results, as shown by the tests run with ocean currents of a Regional Ocean Model.



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