DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Taehwan | ko |
dc.contributor.author | Kim, Hanguen | ko |
dc.contributor.author | Chung, Hyun | ko |
dc.contributor.author | Bang, Yuseok | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2016-04-20T06:20:48Z | - |
dc.date.available | 2016-04-20T06:20:48Z | - |
dc.date.created | 2015-11-02 | - |
dc.date.created | 2015-11-02 | - |
dc.date.created | 2015-11-02 | - |
dc.date.issued | 2015-10 | - |
dc.identifier.citation | OCEAN ENGINEERING, v.107, pp.118 - 131 | - |
dc.identifier.issn | 0029-8018 | - |
dc.identifier.uri | http://hdl.handle.net/10203/205272 | - |
dc.description.abstract | Ocean environmental effects such as current, wind, water depth, and wave effects on a surface vehicle should be considered when planning the path of a marine surface vehicle, even though their complexity makes computation in a short time challenging. Moreover, the mechanical handling devices such as cranes installed on the deck floor of a surface vehicle can also severely confine a vehicle's heading angle at the goal point, especially in a docking or loading/unloading situation. This paper proposes the EEA* algorithm, a deterministic and energy-based 3-dimensional (3-D: x,y, and theta) path planning method for a marine surface vehicle on a 2-dimensional (2-D: x, y) surface plane that considers ocean environmental effects and the heading angle. The proposed path planner uses a realistic energy cost considering the loads on a vehicle due to tidal current and limited water-depth based on a given ship geometry. It also considers the vehicle's turning ability, thus generating more feasible way-points for real travel while satisfying heading angle constraints. By considering both effects in the path planning step, a more energy-efficient and maneuverable path can be found. Resultant paths and their costs are compared through various simulations in different environmental conditions with those of a classical distance-based A* algorithm, the DA* algorithm which is widely used in most applications. | - |
dc.language | English | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | Energy efficient path planning for a marine surface vehicle considering heading angle | - |
dc.type | Article | - |
dc.identifier.wosid | 000362606600012 | - |
dc.identifier.scopusid | 2-s2.0-84939559949 | - |
dc.type.rims | ART | - |
dc.citation.volume | 107 | - |
dc.citation.beginningpage | 118 | - |
dc.citation.endingpage | 131 | - |
dc.citation.publicationname | OCEAN ENGINEERING | - |
dc.identifier.doi | 10.1016/j.oceaneng.2015.07.030 | - |
dc.contributor.localauthor | Chung, Hyun | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.contributor.nonIdAuthor | Lee, Taehwan | - |
dc.contributor.nonIdAuthor | Bang, Yuseok | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Energy cost | - |
dc.subject.keywordAuthor | Marine surface vehicle | - |
dc.subject.keywordAuthor | Ocean environmental effects | - |
dc.subject.keywordAuthor | Heading angle | - |
dc.subject.keywordPlus | AUTONOMOUS UNDERWATER VEHICLES | - |
dc.subject.keywordPlus | COLLISION-AVOIDANCE | - |
dc.subject.keywordPlus | NAVIGATION | - |
dc.subject.keywordPlus | COMPLEX | - |
dc.subject.keywordPlus | GRIDS | - |
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