ICRA 2012 Paper Abstract

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Paper TuA05.2

Lolla, Tapovan (Massachusetts Institute of Technology), Ueckermann, Mattheus Percy (MIT), Yigit, Konuralp (Massachusetts Institute of Technology), Haley, Patrick (MIT), Lermusiaux, Pierre F.J. (MIT)

Path Planning in Time Dependent Flow Fields Using Level Set Methods

Scheduled for presentation during the Regular Session "Path Planning and Navigation" (TuA05), Tuesday, May 15, 2012, 08:45−09:00, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Autonomous Navigation, Path Planning for Multiple Mobile Robots or Agents, Planning, Scheduling and Coordination

Abstract

We develop and illustrate an efficient but rigorous methodology that predicts the time-optimal paths of ocean vehicles in continuous dynamic flows. The goal is to best utilize or avoid currents, without limitation on these currents or on the number of vehicles. The methodology employs a new modified level set equation to evolve a front from the starting point of a vehicle until it reaches the desired goal location, combining flow advection with nominal vehicle motion. The optimal path of the vehicle is then obtained by solving a particle tracking equation backward in time. The computational cost of this method increases linearly with the number of vehicles and geometrically with spatial dimensions. The methodology is applicable to any continuous flow and in scenarios with multiple vehicles. Present illustrations consist of the crossing of a canonical uniform jet and its validation using a classic optimization solution, as well as swarm formation in more complex time varying 2D flow fields, including jets, eddies and forbidden regions.

 

 

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