{"id":3994,"date":"2014-08-22T11:29:21","date_gmt":"2014-08-22T15:29:21","guid":{"rendered":"http:\/\/mseas.mit.edu\/?p=3994"},"modified":"2016-08-22T11:35:16","modified_gmt":"2016-08-22T15:35:16","slug":"time-optimal-path-planning-for-sea-surface-vehicles-under-the-effects-of-strong-currents-and-winds","status":"publish","type":"post","link":"https:\/\/mseas.mit.edu\/?p=3994","title":{"rendered":"Time-optimal Path Planning for Sea-surface Vehicles Under the Effects of Strong Currents and Winds"},"content":{"rendered":"A path-planning methodology that takes into account sea state fields, specifically\r\nwind forcing, is discussed and exemplified in this thesis. This general methodology\r\nhas been explored by the Multidisciplinary Simulation, Estimation, and Assimilation\r\nSystems group (MSEAS) at MIT, however this is the first instance of wind effects\r\nbeing taken into account. Previous research explored vessels and isotropy, where\r\nthe nominal speed of the vessel is uniform in all directions. This thesis explores the\r\nnon-isotropic case, where the maximum speed of the vessel varies with direction,\r\nsuch as a sailboat. Our goal in this work is to predict the time-optimal path between\r\na set of coordinates, taking into account flow currents and wind speeds. This thesis\r\nreviews the literature on a modified level set method that governs the path in any\r\ncontinuous flow to minimize travel time. This new level set method, pioneered by\r\nMSEAS, evolves a front from the starting coordinate until any point on that front\r\nreaches the destination. The vehicles optimal path is then gained by solving a\r\nparticle back tracking equation. This methodology is general and applicable to any\r\nvehicle, ranging from underwater vessels to aircraft, as it rigorously takes into\r\naccount the advection effects due to any type of environmental flow fields such as\r\ntime-dependent currents and dynamic wind fields.","protected":false},"excerpt":{"rendered":"<p>A path-planning methodology that takes into account sea state fields, specifically wind forcing, is discussed and exemplified in this thesis. This general methodology has been explored by the Multidisciplinary Simulation, Estimation, and Assimilation Systems group (MSEAS) at MIT, however this is the first instance of wind effects being taken into account. Previous research explored vessels [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[42,5,43],"tags":[],"class_list":["post-3994","post","type-post","status-publish","format-standard","hentry","category-meche-theses","category-publications","category-bachelors-theses"],"_links":{"self":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3994","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=3994"}],"version-history":[{"count":1,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3994\/revisions"}],"predecessor-version":[{"id":3995,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3994\/revisions\/3995"}],"wp:attachment":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3994"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3994"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3994"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}