Trajectory Planning of an Aerial-Underwater Hybrid Vehicle Based on Heuristics for Energy Efficiency
Pedro M. Pinheiro,
Armando A. Neto,
Paulo L. J. Drews Jr.
Abstract:This work studies the trajectory planning of an unmanned hybrid aerial-underwater vehicle (HUAUV) called Hydrone, which is being developed by the Intelligent Robotics and Automation Group (NAUTEC) of the Federal University of Rio Grande (FURG). This study presents a new trajectory planning algorithm, based on closed-loop rapidly exploring random trees (CL-RRT). This algorithm is developed for an HUAUV and introduces two heuristics to improve its energy efficiency in hybrid tasks. Simulated experiments were car… Show more
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