Rapidly-Exploring Adaptive Sampling Tree*: A Sample-Based Path-Planning Algorithm for Unmanned Marine Vehicles Information Gathering in Variable Ocean Environments

Rapidly-Exploring Adaptive Sampling Tree*: A Sample-Based Path-Planning Algorithm for Unmanned Marine Vehicles Information Gathering in Variable Ocean Environments

This research presents a novel sample-based path planning algorithm for adaptive sampling. The goal is to find a near-optimal path for unmanned marine vehicles (UMVs) that maximizes information gathering over a scientific interest area, while satisfying constraints on collision avoidance and pre-spe...

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Bibliographic Details
Main Authors: Chengke Xiong, Hexiong Zhou, Di Lu, Zheng Zeng, Lian Lian, Caoyang Yu
Format: Article
Language:English
Published: MDPI AG 2020-04-01
Series:Sensors
Subjects:
path planning
unmanned marine vehicles
adaptive ocean sampling
rapidly-exploring adaptive sampling tree star
Online Access:https://www.mdpi.com/1424-8220/20/9/2515

Internet

https://www.mdpi.com/1424-8220/20/9/2515

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