Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments

International Journal of Advanced Robotic Systems

article

Pradeep Rajendran¹  Travis Moscicki²  Jared Wampler²  Karl von Ellenrieder³  S. K. Gupta¹ 

[1] Department of Aerospace and Mechanical Engineering, Viterbi School of Engineering, University of Southern California;Department of Ocean and Mechanical Engineering, Florida Atlantic University;Libera Universita di Bolzano

关键词: Trajectory planning;    obstacle avoidance;    dynamic obstacles;    waves;    perception uncertainty;    motion uncertainty;   

DOI  :  10.1177/1729881420958948

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

We present a deliberative trajectory planning method to avoid collisions with traffic vessels. It also plans traversal across wavefields generated by these vessels and minimizes the risk of failure. Our method searches over a state-space consisting of pose and time. And, it produces collision-free and minimum-risk trajectory. It uses a lookup table to account for motion uncertainty and failure risk. We also present speed-up techniques to increase performance. Our wave-aware planner produces plans that (1) have shorter execution times and safer when compared to previously developed reactive planning schemes and (2) comply with user-defined wave-traversal constraints and Collision Regulations (COLREGs).

【 授权许可】

CC BY