Efficient Optimal Planning in non-FIFO Time-Dependent Flow Fields

Lee, James Ju Heon; Yoo, Chanyeol; Anstee, Stuart

doi:10.1109/icra48891.2023.10161424

Cited by 4 publications

(1 citation statement)

References 34 publications

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“…Using the same ECM in [9], Cao et al obtained the rendezvous trajectories with minimal energy consumption for multiple gliders [10]. To address the problem of energy-optimal path planning in the presence of flow fields for UGs with complex dynamics, an ECM considering the change of the heading angle was presented by Lee et al [11]. Woithe and Kermer investigated various sensor control techniques of a Slocum glider with the sensor energy models [12].…”

Section: Introductionmentioning

confidence: 99%

Energy Consumption Modeling for Underwater Gliders Considering Ocean Currents and Seawater Density Variation

Yang

Wang

et al. 2021

JMSE

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Energy management is a critical and challenging factor required for efficient and safe operation of underwater gliders (UGs), and the energy consumption model (ECM) is indispensable. In this paper, a more complete ECM of UGs is established, which considers ocean currents, seawater density variation, deformation of the pressure hull, and asymmetry of gliding motion during descending and ascending. Sea trial data are used to make a comparison between ECMs with and without the consideration of ocean currents, and the results prove that the ECM that considers the currents has a significantly higher accuracy. Then, the relationship between energy consumption and multiple parameters, including gliding velocity relative to the current, absolute gliding angle, and diving depth, is revealed. Finally, a simple example is considered to illustrate the effects of the depth-averaged current on the energy consumption.

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Section: Introductionmentioning

confidence: 99%

Energy Consumption Modeling for Underwater Gliders Considering Ocean Currents and Seawater Density Variation

Yang

Wang

et al. 2021

JMSE

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Distance and Steering Heuristics for Streamline-Based Flow Field Planning

Yoo

Anstee

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computational efficiency. Important to such planners is an efficient means of computing the travel distance and direction between two points in free space, but this is difficult to achieve in strong incompressible flows such as ocean currents. We propose two useful distance functions in analytical form that combine Euclidean distance with values of the stream function associated with a flow field, and with an estimation of the strength of the opposing flow between two points. Further, we propose steering heuristics that are useful for steering towards a sampled point. We evaluate these ideas by integrating them with RRT * and comparing the algorithm's performance with stateof-the-art methods in an artificial flow field and in actual ocean prediction data in the region of the dominant East Australian Current between Sydney and Brisbane. Results demonstrate the method's computational efficiency and ability to find highquality paths outperforming state-of-the-art methods, and show promise for practical use with autonomous marine robots.

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