Route Planning Method for the Underwater Sampling Tasks Using Autonomous Underwater Vehicles

• Main Authors: Jan Bin Lin, 林振濱
• Other Authors: J. Guo
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/05554626207293254697

碩士 === 國立臺灣大學 === 造船及海洋工程學研究所 === 90 === Abstract Ocean sampling and data collection needs good strategy and efficient tools. Autonomous underwater vehicles (AUVs) are considered as an efficient platform for carrying sensors. However, due to the limited motion speed and battery capacity, sampling method using AUVs requires careful planning. This thesis investigates a 2D path planning method for efficiently sampling and reconstruction of a 2D distribution. We applied Das’ Theorem and progressive sampling technique, the AUV’s route can be planned based on the values of Harmonic Vector Magnitude (HVM) of the sampled data. This procedure takes into account of the AUV power and operation speed. This method was finally evaluated using real ocean bottom data, and the result shows the correctness of the proposed method.