Algorithm for Planning an Informative Route for Map-Aided Navigation
О. А. Степанов, А. С. Носов · 2021
A brief overview of the route planning algorithms in robotics is carried out, and the approaches used in the map-aided navigation systems are highlighted. Common features and differences in route planning in these tasks are noted. An algorithm for choosing a piecewise-linear route is proposed, which allows planning the observation using several geophysical fields with a restriction on the length of linear sections. A brief analysis of the efficiency of the proposed algorithm is carried out.