We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.

翻译：我们提出了一个动态路径规划算法,在试图最大限度减少能源使用的同时,通过一个复杂、时变障碍场,在两栖转子飞行器上行驶。我们创建了一个非线性四角状态模型,代表水上和水下转子飞行器动态。在一个层结构内使用的6度自由动态,为车辆产生运动路径和所需的控制投入。转子飞行器有其周围的三维图,通过目前介质(空气或水)内有限射程的机载传感器读数加以更新。路径规划是通过PRM和D* Lite完成的。