A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in the sensor field-of-view. We also propose a novel method for m...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2022
|
| Online Access: | https://hdl.handle.net/1721.1/144039 |