Hierarchical Planning in Time-Dependent Flow Fields for Marine Robots
James Ju Heon Lee,Chanyeol Yoo,Stuart Anstee,Robert Fitch,James Ju Heon Lee,Chanyeol Yoo,Stuart Anstee,Robert Fitch
We present an efficient approach for finding shortest paths in flow fields that vary as a sequence of flow predictions over time. This approach is applicable to motion planning for slow marine robots that are subject to dynamic ocean currents. Although the problem is NP-hard in general form, we incorporate recent results from the theory of finding shortest paths in time-dependent graphs to constru...
