Path planning for 3D coastal navigation of underwater structures

For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV mod...

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Bibliographic Details
Main Authors: Kim, Jung-Tae, Li, Ji-Hong, Lee, Mun-Jik, Kang, Hyung-Joo, Lee, Won-Seok
Format: Conference Proceeding
Language:English
Subjects:
History
Navigation
Path planning
Robots
Sea measurements
Sonar
Underwater structures
Online Access:Get full text
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Summary:For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV model we had simulation experiments for the coastal navigation using our proposed algorithm. The experimental results show that our proposed algorithm generates useful paths for 3D costal navigation around a Jacket underwater structure.
ISSN:0197-7385
DOI:10.1109/OCEANS.2014.7003234