Abstract
Path planning is general problem of mobile robots, which has special characteristics when applied to marine applications. In addition to avoid colliding with obstacles, in marine scenarios, environment conditions such as water currents or wind need to be taken into account in the path planning process. In this paper, several solutions based on the Fast Marching Method are proposed. The basic method focus on collision avoidance and optimal planning and, later on, using the same underlying method, the influence of marine currents in the optimal path planning is detailed. Finally, the application of these methods to consider marine robot formations is presented.
Highlights
Motion planning has been a very important field of research for many years
In order to deal with the environmental influence, a level set method based on the Fast Marching Method was proposed by Agarwal and Lermusiaux (2011)
The wave propagation given by the Fast Marching Method (FMM) represents a distance function that corresponds to the Geodesic distance measured with the metric defined by the refraction matrix
Summary
Motion planning has been a very important field of research for many years. In the area of autonomous marine vehicles, both surface and underwater vehicles, some important aspects that are commonly optimized are travel time and safety conditions. The Fast Marching Method (FMM) and its evolution, known as the Fast Marching Square (FM2), have proven their value for path planning applications and robot motion because of their plasticity and ease of use They have been applied to many different path planning related problems such as: indoors and outdoors (Garrido et al, 2017) robot motion, path learning (Gomez et al, 2017) or unmanned aerial (Álvarez et al, 2015) and marine vehicles (Petres et al, 2005; Song et al, 2017). Their basic characteristics and their use in marine-like environments are shown
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