Energy-time optimal path planning in strong dynamic flows

We develop an exact partial differential equation-based methodology that predicts time-energy optimal paths for autonomous vehicles navigating in dynamic environments. The differential equations solve the multi-objective optimization problem of navigating a vehicle autonomously in a dynamic flow field to any destination with the goal of minimizing travel time and energy use. Based on Hamilton-Jacobi theory for reachability and the level set method, the methodology computes the exact Pareto optimal solutions to the multi-objective path planning problem, numerically solving the equations governing time-energy reachability fronts and optimal paths. Our approach is applicable to path planning in various scenarios, however we primarily present examples of navigating in dynamic marine environments. First, we validate the methodology through a benchmark case of crossing a steady front (a highway flow) for which we compare our results to semi-analytical optimal path solutions. We then consider more complex unsteady environments and solve for time-energy optimal missions in a quasi-geostrophic double-gyre ocean flow field.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Center for Computational Science and Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2021

Author dc:creator

• Doshi, Manan(Manan Mukesh)

Advisor dc:contributor.advisor

• Pierre F.J. Lermusiaux.

• Computational Science, Engineering.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/130905

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/130905