Online 3-Dimensional Path Planning with Kinematic Constraints in Unknown Environments Using Hybrid A* with Tree Pruning

In this paper we present an extension to the hybrid A* (HA*) path planner. This extension allows autonomous underwater vehicle (AUVs) to plan paths in 3-dimensional (3D) environments. The proposed approach enables the robot to operate in a safe manner by accounting for the vehicle’s motion constrain...

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Detalles Bibliográficos
Autores principales: Scharff Willners, Jonatan, Gonzalez-Adell, Daniel, Hernández, Juan David, Pairet, Èric, Petillot, Yvan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7914487/
https://www.ncbi.nlm.nih.gov/pubmed/33562164
http://dx.doi.org/10.3390/s21041152

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7914487/
https://www.ncbi.nlm.nih.gov/pubmed/33562164
http://dx.doi.org/10.3390/s21041152

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