Sampling Path Planning of Underwater Glider for Optimal Energy Consumption
ZHU Xinke1,2, YU Jiancheng1, WANG Xiaohui1
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
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 devised to optimize the ocean sampling path for underwater glider based on the optimal gliding parameters of the energy consumption model.Finally,by applying the true parameters of Sea-Wing underwater glider,methods proposed above are proved by simulation.
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