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Open AccessArticle

Rapidly-Exploring Adaptive Sampling Tree*: A Sample-Based Path-Planning Algorithm for Unmanned Marine Vehicles Information Gathering in Variable Ocean Environments

by Chengke Xiong 1,2, Hexiong Zhou 1,2, Di Lu 1,2, Zheng Zeng 1,2,3,*, Lian Lian 1,2,3 and Caoyang Yu 1,2
1
School of Oceanography, Shanghai Jiao Tong University, Shanghai 200240, China
2
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3
Qingdao Collaborative Innovation Center of Marine Science and Technology, Qingdao 266100, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(9), 2515; https://doi.org/10.3390/s20092515
Received: 2 February 2020 / Revised: 23 April 2020 / Accepted: 26 April 2020 / Published: 29 April 2020
This research presents a novel sample-based path planning algorithm for adaptive sampling. The goal is to find a near-optimal path for unmanned marine vehicles (UMVs) that maximizes information gathering over a scientific interest area, while satisfying constraints on collision avoidance and pre-specified mission time. The proposed rapidly-exploring adaptive sampling tree star (RAST*) algorithm combines inspirations from rapidly-exploring random tree star (RRT*) with a tournament selection method and informative heuristics to achieve efficient searching of informative data in continuous space. Results of numerical experiments and proof-of-concept field experiments demonstrate the effectiveness and superiority of the proposed RAST* over rapidly-exploring random sampling tree star (RRST*), rapidly-exploring adaptive sampling tree (RAST), and particle swarm optimization (PSO). View Full-Text
Keywords: path planning; unmanned marine vehicles; adaptive ocean sampling; rapidly-exploring adaptive sampling tree star path planning; unmanned marine vehicles; adaptive ocean sampling; rapidly-exploring adaptive sampling tree star
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Xiong, C.; Zhou, H.; Lu, D.; Zeng, Z.; Lian, L.; Yu, C. Rapidly-Exploring Adaptive Sampling Tree*: A Sample-Based Path-Planning Algorithm for Unmanned Marine Vehicles Information Gathering in Variable Ocean Environments. Sensors 2020, 20, 2515.

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