Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments
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 a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420958948 |