Feasible and Optimal Path Planning in Strong Current Fields

Soulignac, Michaël

doi:10.1109/tro.2010.2085790

Cited by 124 publications

(72 citation statements)

References 9 publications

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“…To embed the directional constraints f within such an anisotropic FMM different specific cost functions have been proposed mainly for autonomous underwater vehicles (AUVs) [14,25]. The drag and flow forces have a significant effect on the motion of the AUV, which is a common problem with our microrobot planning problem.…”

Section: B Navigation Planning In Flow 1) Minimal Path Planningmentioning

confidence: 99%

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

Belharet¹,

Folio²,

Ferreira³

2013

IEEE Trans. Biomed. Eng.

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Abstract-This work presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot interaction. Secondly, we also propose a microrobotic surgical planning framework, based on the anisotropic Fast Marching Method (FMM), that provides a feasible pathway robust to biomedical navigation constraints. We demonstrate the framework performance in a case study of the treatment of peripheral arterial diseases (PAD).Index Terms-Microrobotics, minimally invasive surgery, blood flow simulation, anisotropic path planning.

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Section: B Navigation Planning In Flow 1) Minimal Path Planningmentioning

confidence: 99%

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

Belharet¹,

Folio²,

Ferreira³

2013

IEEE Trans. Biomed. Eng.

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“…If the strength of the local wind is larger than the maximum vehicle velocity, impassible zones are created which many planners do not account for [6]. Moreover, while many planners consider wind as a disturbance whose influence is suppressed by the vehicle's autopilot [7], the wind vector field has the potential to be used as a source for powering the UAV to further reduce energy consumption and travel time [8].…”

Section: Introductionmentioning

confidence: 99%

“…This policy promotes more realistic and feasible paths and has the added benefit of reducing the search space. An example of this type of planner is presented by Soulignac to provide feasible and the minimum-time optimal path for small UAVs in the presence of strong current fields [6]. Unfortunately, the research is performed in 2D and does not include other objectives such as fuel or risk.…”

Section: Introductionmentioning

confidence: 99%

“…More recently, biologically-inspired tau-based path planning strategies such as the decentralized receding horizon optimization in [20] were developed to include velocities and time dependencies in the trajectory generation. Many path planners including evolutionary algorithms are based on uniform WVFs [21][22][23][24][25][26] or constant vehicle velocities [6,8,15,[27][28][29][30]. The few planners that account for variable wind conditions simplify the environment to two dimensions by assuming a fixed cruise altitude [6,27,28] or assume that the WVF is horizontally planar [5,31,32] with coarse resolution discretization of the flight space (≥1 km).…”

Section: Introductionmentioning

confidence: 99%

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A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

2017

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This paper presents a comparative study of the effects of grid resolution, vehicle velocity and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.

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“…Constraining the vehicle to move in an 8-connected grid also means that optimality is compromised in the graph discretisation alone, a continuous technique is desirable. Continuous planning techniques have been explored for both AUVs and gliders alike in [8][10] [11]and [12] .Without the constraining of 8-connective,the problem had been considered further in [9]and [13]. The gliding motion control of underwater gliders can be described by considering a typical diving and surfacing cycle, but we can only control the glider at the surfacing cycle for the unavailable underwater communication.…”

Section: Introductionmentioning

confidence: 99%

Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment

Zhou

Wang

2014

Intelligent Robotics and Applications

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Abstract. It is generally considered that the speed of underwater glider is the function of buoyancy and gliding angle. However, the buoyancy and gliding angle are adjustable, which makes the speed of underwater glider within an adjustable range, however, it is usually taken as a constant in current documentations. Considering the path planning in ocean currents, if the maximum speed of a glider can find a path that connects the start point and the target point, then it can decrease its consumption by adjusting its speed in current field of some regions to fit the favorable currents and overcome the influence of adverse currents. Based on the above facts, the paper presents a new path planning method of adjustable speed glider in currents, and the simulation result is shown. According to the result: compared with the path planning method in constant speed, the adjustable speed glider can utilize the current in a better way and save the consumption of energy in a further way.

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Feasible and Optimal Path Planning in Strong Current Fields

Cited by 124 publications

References 9 publications

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment

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