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 |
| _version_ | 1818664102933823488 |
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| author | Pradeep Rajendran Travis Moscicki Jared Wampler Karl von Ellenrieder S. K. Gupta |
| author_facet | Pradeep Rajendran Travis Moscicki Jared Wampler Karl von Ellenrieder S. K. Gupta |
| author_sort | Pradeep Rajendran |
| collection | DOAJ |
| description | 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) |
| first_indexed | 2024-12-17T05:27:25Z |
| format | Article |
| id | doaj.art-6ddc60b4befb48df9953955023559456 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-17T05:27:25Z |
| publishDate | 2020-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-6ddc60b4befb48df99539550235594562022-12-21T22:01:50ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-11-011710.1177/1729881420958948Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environmentsPradeep Rajendran0Travis Moscicki1Jared Wampler2Karl von Ellenrieder3S. K. Gupta4 Department of Aerospace and Mechanical Engineering, Viterbi School of Engineering, , Los Angeles, CA, USA Department of Ocean and Mechanical Engineering, , Dania Beach, FL, USA Department of Ocean and Mechanical Engineering, , Dania Beach, FL, USA Facolta di Scienze e Technologie, , Bolzano, Italy Department of Aerospace and Mechanical Engineering, Viterbi School of Engineering, , Los Angeles, CA, USAWe 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)https://doi.org/10.1177/1729881420958948 |
| spellingShingle | Pradeep Rajendran Travis Moscicki Jared Wampler Karl von Ellenrieder S. K. Gupta Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments International Journal of Advanced Robotic Systems |
| title | Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments |
| title_full | Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments |
| title_fullStr | Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments |
| title_full_unstemmed | Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments |
| title_short | Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments |
| title_sort | trajectory planning for unmanned surface vehicles operating under wave induced motion uncertainty in dynamic environments |
| url | https://doi.org/10.1177/1729881420958948 |
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