Optimal Motion Paths in Ambient Fields
Thomas Kämpke · 2012
The motion of water or the atmosphere that surrounds or supports a mobile platform affects the motion of the platform in a favorable or unfavorable way. Exploiting and compensating the ambient field is investigated for different motion objectives like the classical point to point motion, observation motion, exploration motion and so-called survival motion. Time and energy optimal trajectories in the presence of fields are formalized and shown to be computable by means of discrete optimization.