Autonomous Underwater Vehicle Mine Countermeasures via the Physical Traveling Salesman Problem
نویسندگان
چکیده
Mine Countermeasures (MCM) present a challenging motion planning problem when taking into account ocean currents, complex bathymetry, and vehicle dynamics. In an effort to improve autonomous underwater vehicle (AUV) motion planning for MCM, this work presents a Physical Traveling Salesmen Problem (PTSP) approach as a way to quickly and robustly generate motions for the reacquisition and identification (RID) portion of a MCM mission while considering the temporally and spatially complex marine environment as well as the nonlinear dynamics of the AUV. By leveraging TSP solvers as well as sampling-based motion planning we show that it is possible to efficiently compute low-cost, dynamically-feasible, and collisionfree trajectories.
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