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• W4387176089 startingPage "1892" @default.
• W4387176089 abstract "To ensure the safety and energy efficiency of autonomous sampling operations for a deep-sea landing vehicle (DSLV), the Safety Energy-Dynamic Window Approach (SE-DWA) algorithm was proposed. The safety assessment sub-function formed from the warning obstacle zone and safety factor addresses the safety issue arising from the excessive range measurement error of forward-looking sonar. The trajectory comparison evaluation sub-function with the effect of reducing energy consumption achieves a reduction in path length by causing the predicted trajectory to deviate from the historical trajectory when encountering “U”-shaped obstacles. The pseudo-power evaluation sub-function with further energy consumption reduction ensures optimal linear and angular velocities by minimizing variables when encountering unknown obstacles. The simulation results demonstrate that compared with the Minimum Energy Consumption-DWA algorithm, the SE-DWA algorithm improves the minimum distance to an actual obstacle zone by 68% while reducing energy consumption by 11%. Both the SE-DWA algorithm and the Maximum Safety-DWA (MS-DWA) algorithm ensure operational safety with minimal distance to the actual obstacle zone, yet the SE-DWA algorithm achieves a 24% decrease in energy consumption. In conclusion, the path planned by the SE-DWA algorithm ensures not only safety but also energy consumption reduction during autonomous sampling operations by a DSLV in the deep sea." @default.
• W4387176089 created "2023-09-30" @default.
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• W4387176089 date "2023-09-28" @default.
• W4387176089 modified "2023-10-14" @default.
• W4387176089 title "Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm" @default.
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• W4387176089 doi "https://doi.org/10.3390/jmse11101892" @default.
• W4387176089 hasPublicationYear "2023" @default.
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