極域海洋における自律型水中ロボットの長距離経路計画
Long-Range Route-planning for Autonomous Vehicles in the Polar Oceans
南極海で運用するAUV向けに、変化する海氷状況を考慮した長距離経路計画の自動化手法を提案し、氷を避けた効率的な長距離航行が計画できることを示した。
著者: Maria Fox, Michael Meredith, J. Alexander Brearley, Dan Jones, Derek Long
分類: cs.RO, cs.AI
原文アブストラクト
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and limiting the scope of operations. A key requirement for long-term autonomous missions is a long-range route planning capability that is aware of the changing ice conditions. In this paper we address the problem of automating long-range route-planning for AUVs operating in the Southern Ocean. We present the route-planning method and results showing that efficient, ice-avoiding, long-distance traverses can be planned.
