Dynamic Navigation in Direction-Dependent Environments

摘要: This chapter examines optimal path-finding problems with direction-, location- and time-dependent environments. The dependence of the cost function path constraints on location mobile agent time creates need for a dynamic navigation algorithm, capable adjusting in real as more information about environment becomes available. In addition, direction-dependent nature results an asymmetric function, which is not metric prohibits use traditional established approaches to solving problems. Moreover, triangle inequality often violated functions, further preventing analysis developed Euclidian shortest To add another dimension reality our model, we integrate system dynamics constrain feasible paths by maximum sharpness turn that can make. presented work delivers realistic model while reducing computational required find such path. particularly important since real-time implementation essential applications. many analytical derived here provide insights into structure problem, its objective solution. These closed-form solution large subset where additional assumptions are applicable. For problems, easily construct solutions instead implementing involved, approximate, methods literature. We describe Optimum Vessel Performance Evolving Nonlinear Wavefields Project motivated deliver demonstrate applicability performance methods.