Energy-optimal path planning by stochastic dynamically orthogonal level-set optimization
نویسندگان
چکیده
منابع مشابه
A Stochastic Optimization Method for Energy-Based Path Planning
We present a novel stochastic optimization method to compute energy–optimal paths, among all time–optimal paths, for vehicles traveling in dynamic unsteady currents. The method defines a stochastic class of instantaneous nominal vehicle speeds and then obtains the energy–optimal paths within the class by minimizing the total time– integrated energy usage while still satisfying the strong–constr...
متن کاملTime-Optimal Path Planning in Dynamic Flows using Level Set Equations: Realistic Applications
The level set methodology for time-optimal path planning is employed to predict collision-free and fastest time trajectories for swarms of underwater vehicles deployed in the Philippine Archipelago region. To simulate the multiscale ocean flows in this complex region, a data-assimilative primitive-equation ocean modeling system is employed with telescoping domains that are interconnected by imp...
متن کاملTime-Optimal Path Planning in Dynamic Flows using Level Set Equations: Theory and Schemes
We develop an accurate partial differential equation based methodology that predicts the timeoptimal paths of autonomous vehicles navigating in any continuous, strong and dynamic ocean currents, obviating the need for heuristics. The goal is to predict a sequence of steering directions so that vehicles can best utilize or avoid currents to minimize their travel time. Inspired by the level set m...
متن کاملOptimal “Off-Aiming”: Stochastic Path Planning with One-Dimensional Features
This paper investigates a traditional navigational technique, known as “off-course navigation,” “landfall intercept,” “single line-of-position,” and “aiming off,” which has been extensively used by navigators on foot, ancient ships, preGPS aircraft, and modern submarines. Using this technique, the navigator deliberately aims to one side of their objective with the intention of following a line ...
متن کاملEnergy-Optimal Path Planning for Solar-Powered Aircraft in Level Flight
[Abstract] Motivated by long-endurance requirements in surveillance, reconnaissance and exploration, this paper considers level flight path planning for unmanned aerial vehicles (UAVs) equipped with solar cells on the upper surface of the wings. These solar cells collect energy that is stored in a battery and used to drive a propeller. The mission of the UAV is to travel from a given initial po...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Ocean Modelling
سال: 2016
ISSN: 1463-5003
DOI: 10.1016/j.ocemod.2016.01.006