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2 TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2 2018

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Towards use of dijkstra algorithm for optimal navigation of an unmanned surface vehicle in a real-time marine environment with results from artificial potential field

Singh Y., Sharma S., Sutton R., Hatton D.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2018

Vol. 12, no. 1

125--131

The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.

Modeling of performance of a AUV vehicle towards limiting the hydro-acoustic field

Gerigk M. K.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2018

Vol. 12, no. 4

687--692

Some results of research devoted to the modeling of a AUV-Stealth vehicle performance towards limiting its hydro-acoustic field are presented in the paper. At the beginning the AUV-Stealth autonomous underwater vehicle concept is described. Then the method of research is introduced. Next the key design drivers of the AUV-Stealth vehicle are presented. Between them are the AUV-Stealth hull form, arrangement of internal spaces, materials, hull covers, energy supply and propulsion system, etc. Some results of the hydrodynamic and stealth characteristics of the AUV-Stealth vehicle are briefly described. It is presented in the paper that the hull form, construction materials including the covers may affect the AUV-Stealth vehicle boundary layer and wake. This may create some problems of identification of the AUV-Stealth vehicle using a sonar or hydrophone. The final conclusions are presented.