Abstract This paper presents the energy-optimal velocity to solve problem of path planning for autonomous underwater vehicles (AUVs) in current fields. In proposed scheme, a sequence thrust velocities and steering directions is predicted enable utilize/avoid currents minimize their energy consumption. Each direction are deduced through vector analysis method under expected displacement correspo...

Robotic systems are usually built as independent agents that collaborate to accomplish a specific task. Analysis of robot path planning consists of route planning and path generation. We will show how to apply the Cell-DEVS formalism and the CD++ toolkit for these tasks. We present a Cell-DEVS model for route planning, which, based on the obstacles, finds different paths available and creates a...

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulati...

A* algorithm has been proved that it will provide optimal solutions in a static environment. We also want to introduce the A* algorithm to a dynamic environment where exists some moving objects which are unknown to the path planner, the agent. Since A* algorithm requires a perfect knowledge to the environment, we cannot directly implement A* in this situation. But we will enlarge the agent’s kn...

Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the A* search method, guaranteed to deliver a complete and optimal solution that minimizes the path cost. Path ...

In this paper we shall represent strategic planning problems by dynamic decison trees, in which the nodes are projects that can be deferred or postponed for a certain period of time. Using the theory of real options we shall identify the optimal path of the tree, i.e. the path with the biggest real option value in the end of the planning period.

Efficient path planning algorithms and decision-making control system are crucial issues for modern autonomous underwater vehicle (AUV) in complex underwater environment. In this paper, Fast Marching (FM) algorithm is used to extract cost optimal paths from complex and continuous environments, and meanwhile, we design a decision-making control system with reactive structure based on behavior. T...

An optimal cost-reducing capacity-dimensioning is crucial for network operators when designing communication networks. Failure-free working as well as backup routes have to be installed in order to guarantee Quality of Service and availability requirements. With traditional network planning techniques using linear programming with the flow-approach [1] or the path-approach [2] optimal configura...

In this paper we shall represent strategic planning problems by dynamic decison trees, in which the nodes are projects that can be deferred or postponed for a certain period of time. Using the theory of real options we shall identify the optimal path of the tree, i.e. the path with the biggest real option value in the end of the planning period.