Path generation and navigation system design under ocean currents for an unmanned underwater vehicle
Kihun Kim, Hyun‐Taek Choi, Sea-Moon Kim, Chong-Moo Lee, Pan-Mook Lee · The Abstracts of the international conference on advanced mechatronics toward evolutionary fusion of IT and mechatronics ICAM · 2010
This paper describes path generation and navigation system design methodology under ocean currents using multiple sensors fusion. By adopting a natural cubic spline curve generation scheme, smooth path planning can be conducted considering major ocean current direction in heuristic manner. A multiple sensors based precise navigation scheme enables underwater vehicles to be controlled with qualified navigation information such as update rate, accuracy, precision.