Bilevel Optimization-Based Time-Optimal Path Planning for AUVs
Using the bilevel optimization (BIO) scheme, this paper presents a time-optimal path planner for autonomous underwater vehicles (AUVs) operating in grid-based environments with ocean currents. In this scheme, the upper optimization problem is defined as finding a free-collision channel from a starti...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-11-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/18/12/4167 |