Underwater multi-dimensional path planning for the Naval Postgraduate School Autonomous Underwater Vehicle II
Bonsignore, Joseph, Jr.
MetadataShow full item record
Traditionally path planning has been developed in LISP or C. With the recent government mandate for the use of Ada, this thesis seeks to demonstrate the feasibility of using Ada for both path planning and real-time path planning. Land vehicle path planning can be accomplished with two horizontal components. However, for autonomous underwater vehicles, the two horizontal components and a vertical component are required, Memory and computational speed restrictions dictate that special processing of the search space be conducted to optimize the time-space trade-off. In this research, a four dimensional array of nodes (two horizontal components, one vertical component and one orientation component) is used to represent the search space. By use of an orientation component, the number of nodes that can be legally moved to is limited, in effect pruning the search space. Three search methods were investigated: the Tendril search, the Direction search and the Real-time A* search. The tendril search is a wavefront, breadth first search. The Direction search uses a vector field for path planning. The Real-time A* search uses the Tendril search to a specified search depth then applies a heuristic to determine the best path to expand upon.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Harder, Byron R. (Monterey, California: Naval Postgraduate School, 2017-03);Production combat models and simulations do not have an automated planning capability for multiple units in a command structure, and they lack tools for forward reasoning about effects such as suppression by firepower. ...
Arntzen, Arent. (Monterey, California. Naval Postgraduate School, 1998-09);Modern offensive weapon technologies such as stealth and precision guided munitions have rendered Integrated Air Defense Systems increasingly vulnerable and ineffective. Stealth effectively reduces the performance of radar, ...
Richbourg, Robert F.; Rowe, Neil C.; Zyda, Michael J.; McGhee, Robert (Robert B.) (Monterey, California. Naval Postgraduate School, 1986-10); NPS52-86-021Long range route planning based on map data is an important component in the intelligent control system of an autonomous agent. Most attempts to solve this problem rely on applying simple search strategies to high resolution, ...