Journal article
Computing Energy Optimal Paths in Time-Varying Flows
2016
Abstract
Autonomous marine vehicles (AMVs) are typically deployed for long periods of time in the ocean to monitor different physical, chemical, and biological processes. Given their limited energy budgets, it makes sense to consider motion plans that leverage the dynamics of the surrounding flow field so as to minimize energy usage for these vehicles. In this paper, we present two graph search based methods to compute energy optimal paths for AMVs in two-dimensional (2-D) time-varying flows. The novelty of the proposed algorithms lies in a unique discrete graph representation of the 3-D configuration space spanned by the spatio-temporal coordinates. This enables a more efficient traversal through the search space, as opposed to a full search of the spatio-temporal configuration space. Furthermore, the proposed strategy results in solutions that are closer to the global optimal when compared to greedy searches through the spatial coordinates alone. We demonstrate the proposed algorithms by computing optimal energy paths around the Channel Islands in the Santa Barbara bay using time-varying flow field forecasts generated by the Regional Ocean Model System. We verify the accuracy of the computed paths by comparing them with paths computed via an optimal control formulation.
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Details
- Title
- Computing Energy Optimal Paths in Time-Varying Flows
- Creators
- Dhanushka N. Kularatne (Author) - Drexel UniversitySubhrajit Bhattacharya (Author)M. Ani Hsieh (Author) - Drexel University
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Number of pages
- 8 pages
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Identifiers
- 991014632831304721