Optimal Path Planning of Autonomous Marine Vehicles in Stochastic Dynamic Ocean Flows using a GPU-Accelerated Algorithm
Rohit Chowdhury,
Deepak Subramani
Abstract:Autonomous marine vehicles play an essential role in many ocean science and engineering applications. Planning time and energy optimal paths for these vehicles to navigate in stochastic dynamic ocean environments is essential to reduce operational costs. In some missions, they must also harvest solar, wind, or wave energy (modeled as a stochastic scalar field) and move in optimal paths that minimize net energy consumption. Markov Decision Processes (MDPs) provide a natural framework for sequential decision mak… Show more
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