Path Planning in Uncertain Ocean Currents using Ensemble Forecasts
Chanyeol Yoo James Ju Heon Lee Stuart Anstee Robert Fitch Chanyeol Yoo James Ju Heon Lee Stuart Anstee Robert Fitch
We present a path planning framework for marine robots subject to uncertain ocean currents that exploits data from ensemble forecasting, which is a technique for current prediction used in oceanography. Ensemble forecasts represent a distribution of predicted currents as a set of flow fields that are considered to be equally likely. We show that the typical approach of computing the vector-wise me...