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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...
Autores principales: | Scharff Willners, Jonatan, Gonzalez-Adell, Daniel, Hernández, Juan David, Pairet, Èric, Petillot, Yvan |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
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 |
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