Convergence-guaranteed time-varying RRT path planning for profiling floats in 4-Dimensional flow

Huynh, Van T., Dunbabin, Matthew, & Smith, Ryan N. (2014) Convergence-guaranteed time-varying RRT path planning for profiling floats in 4-Dimensional flow. In Australasian Conference on Robotics and Automation 2014, Australian Robotics and Automation Association, Melbourne, Australia, pp. 1-9.

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This paper presents an extension to the Rapidly-exploring Random Tree (RRT) algorithm applied to autonomous, drifting underwater vehicles. The proposed algorithm is able to plan paths that guarantee convergence in the presence of time-varying ocean dynamics. The method utilizes 4-Dimensional, ocean model prediction data as an evolving basis for expanding the tree from the start location to the goal. The performance of the proposed method is validated through Monte-Carlo simulations. Results illustrate the importance of the temporal variance in path execution, and demonstrate the convergence guarantee of the proposed methods.

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ID Code: 81681
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: path planning, rapidly exploring random trees, underwater vehicles, profiling floats
ISSN: 1448-2053
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 [please consult the authors]
Deposited On: 08 Feb 2015 22:52
Last Modified: 01 Apr 2015 07:21

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