Rapidly-exploring adaptive sampling tree*: A sample-based path-planning algorithm for unmanned marine vehicles information gathering in variable ocean environments

Abstract

This research presents a novel sample-based path planning algorithm for adaptive sampling. The goal is to find a near-optimal path for unmanned marine vehicles (UMVs) that maximizes information gathering over a scientific interest area, while satisfying constraints on collision avoidance and pre-specified mission time. The proposed rapidly-exploring adaptive sampling tree star (RAST*) algorithm combines inspirations from rapidly-exploring random tree star (RRT*) with a tournament selection method and informative heuristics to achieve efficient searching of informative data in continuous space. Results of numerical experiments and proof-of-concept field experiments demonstrate the effectiveness and superiority of the proposed RAST* over rapidly-exploring random sampling tree star (RRST*), rapidly-exploring adaptive sampling tree (RAST), and particle swarm optimization (PSO).