Path Planning in Uncertain Ocean Currents using Ensemble Forecasts
Chanyeol Yoo,James Ju Heon Lee,Stuart Anstee,Robert Fitch,Chanyeol Yoo,James Ju Heon Lee,Stuart Anstee,Robert Fitch
We present a path planning framework for marine robots subject to uncertain ocean currents that exploits data from ensemble forecasting, which is a technique for current prediction used in oceanography. Ensemble forecasts represent a distribution of predicted currents as a set of flow fields that are considered to be equally likely. We show that the typical approach of computing the vector-wise me...
