DocumentCode :
3647043
Title :
Path planning in time dependent flow fields using level set methods
Author :
T. Lolla;M. P. Ueckermann;K. Yiğit;P. J. Haley;P. F. J. Lermusiaux
Author_Institution :
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Mass. Ave., Cambridge - 02139, USA
fYear :
2012
fDate :
5/1/2012 12:00:00 AM
Firstpage :
166
Lastpage :
173
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.
Keywords :
"Vehicles","Level set","Path planning","Oceans","Equations","Mathematical model","Vehicle dynamics"
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Type :
conf
DOI :
10.1109/ICRA.2012.6225364
Filename :
6225364
Link To Document :
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