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dc.contributor.advisorLee, Yuh-jeng
dc.contributor.authorBonsignore, Joseph, Jr.
dc.dateSeptember 1991
dc.date.accessioned2013-02-15T23:34:27Z
dc.date.available2013-02-15T23:34:27Z
dc.date.issued1991-09
dc.identifier.urihttp://hdl.handle.net/10945/28620
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractTraditionally 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.en_US
dc.description.urihttp://archive.org/details/underwatermultid00bons
dc.format.extent142 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.titleUnderwater multi-dimensional path planning for the Naval Postgraduate School Autonomous Underwater Vehicle IIen_US
dc.typeThesisen_US
dc.contributor.secondreaderBradbury, Leigh
dc.contributor.corporateNaval Postgraduate School
dc.contributor.departmentDepartment of Computer Science
dc.subject.authorPath planningen_US
dc.subject.authorPath replanningen_US
dc.subject.authorTendril searchen_US
dc.subject.authorWavefront searchen_US
dc.subject.authorReal-time A* searchen_US
dc.subject.authorAutonomous underwater vehicleen_US
dc.subject.authorAUVen_US
dc.subject.authorAda in artificial intelligenceen_US
dc.description.serviceCaptain, United States Marine Corpsen_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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