计算机科学
水下滑翔机
滑翔机
运动规划
水下
算法
马尔可夫链
作者
Wenwen Wang,Zhiliang Wu,Mengyuan Zhao,Wei Ma
出处
期刊:Lecture notes in mechanical engineering
日期:2021-01-01
卷期号:: 537-546
标识
DOI:10.1007/978-981-15-4477-4_38
摘要
Underwater glider has an outstanding advantage of long endurance for ocean observation. This paper presents underwater glider path planning with uncertainties under the framework of partially observable Markov decision processes (POMDPs). The kinematics model and the sensor model of the underwater glider have been built, and the uncertainty of action has been taken into consideration. The priori probability distribution and posteriori probability distribution are obtained from the kinematic model and sensor model, respectively. Particle filtering has been used to combine the two probability distributions. Results show that integrating the uncertainties in state estimation can improve the accuracy of waypoint estimation. Obstacle avoidance is also presented in the same framework.
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