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dc.contributor.advisorKanayama, Yutaka
dc.contributor.authorCaddell, Tymothy Wayne
dc.dateDecember 1991
dc.date.accessioned2013-02-15T23:34:22Z
dc.date.available2013-02-15T23:34:22Z
dc.date.issued1991-12
dc.identifier.urihttp://hdl.handle.net/10945/28609
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThe Naval Postgraduate School in Monterey, California is currently working on an ongoing project for research in autonomous underwater vehicle (AUV) technology. This project comprises two areas of research. the first area is research conducted on the system, NPS II AUV. The second area is a computer simulation of the actual system. One topic which is vital to both areas is three=dimensional path planning. The concept of three-dimensional path planning is on the order of magnitude of polynomial time and current research in this area is limited. This paper reviews my findings and submits an algorithm which finds a best path in a three-dimensional environment, while avoiding all known polyhedral obstacles. The algorithm's concept is to reduce the three-dimensional world to a series of two-dimensional representations, allowing the algorithm to use tangential lines created from the start to nodes on the polygons lying between the start and goal, from nodes to polygon to other polygons and nodes and finally, from polygon nodes to the goal.en_US
dc.description.urihttp://archive.org/details/threedimensional00cadd
dc.format.extent170 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.titleThree-dimensional path planning for the NPS II AUVen_US
dc.typeThesisen_US
dc.contributor.secondreaderHughes, Gary J.
dc.contributor.corporateNaval Postgraduate School
dc.contributor.departmentDepartment of Computer Science
dc.subject.authorPath planningen_US
dc.subject.authorThree-dimensional path planningen_US
dc.subject.authorPolyhedral path planningen_US
dc.subject.authorAutonomous underwater vehicleen_US
dc.subject.authorNPS II AUVen_US
dc.subject.authorObstacle representationen_US
dc.description.serviceCaptain, United States Armyen_US
etd.thesisdegree.nameMaster of Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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