Paper Info
Title
Ant-Colony-Based Complete-Coverage Path-Planning Algorithm for Underwater Gliders in Ocean Areas With Thermoclines
Abstract
Underwater gliders are being increasingly used for data collection, and the development of methods for optimizing their routes has become a topic of active research. With this aim in mind, in this paper, a complete-coverage path-planning obstacle-avoidance (CCPP-OA) algorithm that ensures avoidance for underwater gliders in sea areas with thermoclines is proposed. First, the entire sea area with the thermocline layer is stratified based on the underwater communication radii of the gliders. Next, the glide angles and initial navigation points of the gliders are determined based on their communication radii at each level to construct the complete-coverage path. Finally, by combining the ant colony algorithm and the determined initial navigation points, the complete-coverage path with obstacle avoidance is planned for the gliders. Simulation results show that the proposed CCPP-OA algorithm enables complete coverage of the entire sea area. Furthermore, the length of the planned path is shorter and the amount of energy consumed is less than that of other algorithms.
Year
DOI
Venue
2020
10.1109/TVT.2020.2998137
IEEE Transactions on Vehicular Technology
Keywords
DocType
Volume
Ant colony algorithm,complete-coverage path planning,thermocline,underwater glider
Journal
69
Issue
ISSN
Citations 
8
0018-9545
2
PageRank 
References 
Authors
0.37
0
7
Name
Order
Citations
PageRank
Guangjie Han11890172.76
Zeren Zhou251.76
Tongwei Zhang352.78
Hao Wang47910.19
Li Liu518112.42
Yan Peng620.37
Mohsen Guizani76456557.44