Work

A novel path-finding approach for maritime search-and-rescue missions incorporating dynamic probability of a target location

Year: 2025

Type: article

Abstract: Current practice for maritime search and rescue (MSAR) adheres to predetermined full-coverage patterns for finding targets. These do not account for key success factors for MSAR missions such as the dynamic location of targets, updates on situational awareness during mission execution, and search vehicle kinematics. Consequently, current practice cannot incorporate realistic MSAR operational conditions into path-finding, increasing the likelihood of mission failure. To address this issue, a novel, flexible path-finding framework is proposed for generating a path while dynamically updating the probability of a target based on the path's trajectories. The solution approach implements the A* algorithm, which can accommodate the dynamics of a vehicle and guarantees the optimality of the final path with respect to the target objective function. Experiments show that a more than 50% improvement in the time needed to guarantee a certain probability of finding a target is exhibited compared to the parallel sweep coverage path-finding approach.

Source: Engineering Optimization

DOI: 10.1080/0305215x.2024.2446590

Authors: Andreas Kühne Larsen, Kemal Ihsan Kilic, Magnus Berg Ladefoged, Inkyung Sung

Institution: Aalborg University

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Funder: Innovationsfonden

Award: G1277858594