This paper presents a few important practiceoriented requirements for optimal path planning for the AUV “SLOCUM Glider” as well as solutions using fast graph based algorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal...

In this paper a complex path planning model is presented. The model building starts by mapping the totally unknown environment, then the geometrical map of the “work space” is built-up. Afterwards, based on the determined error of navigation, the reduced free space of the environment is created. The path planning process is begins with this reduced environment. At first it determines some cruis...

Many mobile robot path planning algorithms, produce changing intermediate goal coordinates for a mobile robot to pursue, and provide motoring speed/torque signals based upon local sensor information and the position of the global target. This is often done with little or no regard for the low level vehicle dynamics, which, in practice, must be taken into account for efficient path planning. The...

This report investigates the application of two Computer Vision techniques for characterizing critical regions in digital terrain maps: Skeletonization and Topographical Region Detection. The Navigation Path Planning problem involves nding the optimal path through a digital terrain Map and must minimize a cost function while satisfying the constraints of navigation. This process is computationa...

This paper addresses an optimal path planning problem on the three-input six-dimensional Brockett’s canonical system. class of systems can be applied to control position and orientation a rigid body in SE(3), such as spacecraft, aerial vehicles, or underwater using only three inputs. Since number inputs is less than total degrees freedom, it raises non-trivial technical issues finding actual ti...

The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski’s algorithm. The FD* algorithm is used for fast replanning and Witkowski’s algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space b...