A comparison of local path planning techniques of autonomous surface vehicles for monitoring applications: The Ypacarai lake case-study
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Date of publishing2020
Type of publicationresearch article
The evaluation proposed in this work includes ways to summarize time and safety measures for local path planning techniques. The results in a Lake environment present the advantages and disadvantages of using each technique. The proposed uFMS and A* have been shown to achieve interesting performance in terms of processing time, distance travelled and security levels. Furthermore, the proposed uFMS algorithm is capable of generating smoother routes.