Optimal Path Planning in Time-Varying Flows Using Adaptive Discretization.
IEEE Robotics and Automation Letters(2018)
摘要
Autonomous marine vehicles (AMVs) are typically deployed for long periods of time in the ocean to monitor different physical, chemical, and biological processes. Given their limited energy budgets, it makes sense to consider motion plans that leverage the dynamics of the surrounding flow field so as to minimize energy usage for these vehicles. In this letter, we present a graph-search-based method...
更多查看译文
关键词
Cost function,Vehicle dynamics,Level set,Drag,Path planning,Marine vehicles,Oceans
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络