ICRA 2011 Paper Abstract


Paper TuP111.4

Isern-González, Josep (Universidad de Las Palmas de Gran Canaria), Hernández-Sosa, Daniel (Universidad de Las Palmas de Gran Canaria), Fernández-Perdomo, Enrique (Universidad de Las Palmas de Gran Canaria), Cabrera-Gámez, Jorge (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)

Path Planning for Underwater Gliders Using Iterative Optimization

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics I" (TuP111), Tuesday, May 10, 2011, 14:25−14:40, 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 March 30, 2020

Keywords Marine Robotics, Motion and Path Planning


Underwater gliders constitute a technology in active development, which has proven very promising in Ocean Research because of its relative low cost and long mission range. Due to their low surge speed, however, gliders are strongly affected by ocean currents, making path planning a crucial tool for this type of vehicles. In this work, we present a novel path planning algorithm for gliders based on iterative optimization that shows promising results in realistic simulations. This method reflects accurately the vehicle operation pattern and exhibits a better performance when compared with alternative approaches that are compared in this paper.



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