{"id":3315,"date":"2015-05-30T11:47:44","date_gmt":"2015-05-30T15:47:44","guid":{"rendered":"http:\/\/mseas.mit.edu\/?p=3315"},"modified":"2021-07-06T13:08:26","modified_gmt":"2021-07-06T17:08:26","slug":"a-stochastic-optimization-method-for-energy-based-path-planning","status":"publish","type":"post","link":"https:\/\/mseas.mit.edu\/?p=3315","title":{"rendered":"A Stochastic Optimization Method for Energy-based Path Planning"},"content":{"rendered":"We present a novel stochastic optimization method to compute energy-optimal paths, among all time-optimal paths, for vehicles traveling in dynamic unsteady currents. The method defines a stochastic class of instantaneous nominal vehicle speeds and then obtains the energy-optimal paths within the class by minimizing the total time-integrated energy usage while still satisfying the strong-constraint time-optimal level set equation. This resulting stochastic level set equation is solved using a dynamically orthogonal decomposition and the energy-optimal paths are then selected for each arrival time, among all stochastic time-optimal paths. The first application computes energy-optimal paths for crossing a steady front. Results are validated using a semi-analytical solution obtained by solving a dual nonlinear energy-time optimization problem. The second application computes energy-optimal paths for a realistic mission in the Middle Atlantic Bight and New Jersey Shelf\/Hudson Canyon region, using dynamic data-driven ocean field estimates.","protected":false},"excerpt":{"rendered":"<p>We present a novel stochastic optimization method to compute energy-optimal paths, among all time-optimal paths, for vehicles traveling in dynamic unsteady currents. The method defines a stochastic class of instantaneous nominal vehicle speeds and then obtains the energy-optimal paths within the class by minimizing the total time-integrated energy usage while still satisfying the strong-constraint time-optimal [&hellip;]<\/p>\n","protected":false},"author":2,"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-3315","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\/3315","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\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3315"}],"version-history":[{"count":20,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3315\/revisions"}],"predecessor-version":[{"id":4069,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3315\/revisions\/4069"}],"wp:attachment":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3315"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3315"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3315"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}