Solutions for Practice-oriented Requirements for Optimal Path Planning for the AUV "SLOCUM Glider"

TL;DR

This paper discusses practice-oriented requirements for optimal path planning of the AUV "SLOCUM Glider" and proposes solutions using fast graph-based algorithms built on the TVE search algorithm, focusing on acceleration methods.

Contribution

It introduces methods to accelerate graph-based path planning algorithms for AUVs without compromising result quality, based on real mission experiences.

Findings

Fast graph algorithms can effectively optimize AUV path planning.

Acceleration techniques do not deteriorate the quality of the planned paths.

Practical requirements from real missions guide algorithm improvements.

Abstract

This paper presents a few important practiceoriented requirements for optimal path planning for the AUV "SLOCUM Glider" as well as solutions using fast graph basedalgorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure time are the motivation to address the field of research, which is described in this paper. The main focus of this paper is a discussion of possible methods to accelerate the path planning algorithm, without deterioration of the results.