Time-minimal path planning in dynamic current fields

Authors:
Michaël Soulignac;Patrick Taillibert;Michel Rueher
Affiliations:
THALES Aerospace, AI laboratory and Nice Sophia Antipolis University, I3S/CNRS, BP, Sophia Antipolis, France;THALES Aerospace, AI laboratory;Nice Sophia Antipolis University, I3S/CNRS, BP, Sophia Antipolis, France
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 3
Cited 0

Shortest-path and minimum-delay algorithms in networks with time-dependent edge-length

Journal of the ACM (JACM)
Introduction to algorithms

Introduction to algorithms
Path Planning for Autonomous Underwater Vehicles

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

Numerous approaches have been proposed for path planning in dynamic current fields, for a fixed departure time. However, in many applications, the departure time is not necessarily known in advance, but can vary in a time window. In this context, the choice of a good departure time is a critical issue. That is why we introduce in this paper a new approach, called symbolic wavefront expansion, determining both the path and the departure time minimizing the travel time of the vehicle. The key idea of this approach is to propagate and compose functions instead of numerical values, with appropriate operators.