{"id":1971,"date":"2012-01-05T09:16:33","date_gmt":"2012-01-05T14:16:33","guid":{"rendered":"http:\/\/mseas.mit.edu\/?p=1971"},"modified":"2021-07-06T13:22:23","modified_gmt":"2021-07-06T17:22:23","slug":"path-planning-in-time-dependent-flow-fields-using-level-set-methods","status":"publish","type":"post","link":"https:\/\/mseas.mit.edu\/?p=1971","title":{"rendered":"Path Planning in Time Dependent Flow Fields using Level Set Methods"},"content":{"rendered":"We develop and illustrate an efficient but rigorous\r\nmethodology that predicts the time-optimal paths of ocean\r\nvehicles in dynamic continuous flows. The goal is to best\r\nutilize or avoid currents, without limitation on these currents\r\nnor on the number of vehicles. The methodology employs a\r\nnew modified level set equation to evolve a wavefront from\r\nthe starting point of vehicles until they reach their desired\r\ngoal locations, combining flow advection with nominal vehicle\r\nmotions. The optimal paths of vehicles are then computed\r\nby solving particle tracking equations backwards in time.\r\nThe computational cost is linear with the number of vehicles\r\nand geometric with spatial dimensions. The methodology is\r\napplicable to any continuous flows and many vehicles scenarios.\r\nPresent illustrations consist of the crossing of a canonical\r\nuniform jet and its validation with an optimization problem,\r\nas well as more complex time varying 2D flow fields, including\r\njets, eddies and forbidden regions.","protected":false},"excerpt":{"rendered":"<p>We develop and illustrate an efficient but rigorous methodology that predicts the time-optimal paths of ocean vehicles in dynamic continuous flows. The goal is to best utilize or avoid currents, without limitation on these currents nor on the number of vehicles. The methodology employs a new modified level set equation to evolve a wavefront from [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[183,35,5,70],"tags":[],"class_list":["post-1971","post","type-post","status-publish","format-standard","hentry","category-science-of-autonomy","category-optimal-path-planning","category-publications","category-proceedings-of-refereed-conferences-optimal-path-planning"],"_links":{"self":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/1971","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1971"}],"version-history":[{"count":8,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/1971\/revisions"}],"predecessor-version":[{"id":2516,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/1971\/revisions\/2516"}],"wp:attachment":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1971"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1971"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1971"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}