• 主题
高级搜索  >
历史搜索 清空历史
首页> 美国政府科技报告 >Underwater Multi-Dimensional Path Planning for the Naval Postgraduate SchoolAutonomous Underwater Vehicle II
【24h】

Underwater Multi-Dimensional Path Planning for the Naval Postgraduate SchoolAutonomous Underwater Vehicle II

机译：海军研究生院水下多维路径规划自治水下航行器二

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Traditionally path planning software has been developed in LISP or C. With therecent government mandate for the use of Ada, this thesis seeks to demonstrate the feasibility of using Ada for both path preplanning and real-time path replanning. 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.

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号