Uncertainty-based online mapping and motion planning for marine robotics guidance
In real-world robotics, motion planning remains to be an open challenge. Not only robotic systems are required to move through unexplored environments, but also their manoeuvrability is constrained by their dynamics and often suffer from uncertainty. One approach to overcome this problem is to incre...
| Main Authors: | , , , |
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| Format: | Conference item |
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Institute of Electrical and Electronics Engineers
2019
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| _version_ | 1797081759190351872 |
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| author | Pairet, È Hernández, J Lahijanian, M Carreras, M |
| author_facet | Pairet, È Hernández, J Lahijanian, M Carreras, M |
| author_sort | Pairet, È |
| collection | OXFORD |
| description | In real-world robotics, motion planning remains to be an open challenge. Not only robotic systems are required to move through unexplored environments, but also their manoeuvrability is constrained by their dynamics and often suffer from uncertainty. One approach to overcome this problem is to incrementally map the surroundings while, simultaneously, planning a safe and feasible path to a desired goal. This is especially critical in underwater environments, where autonomous vehicles must deal with both motion and environment uncertainties. In order to cope with these constraints, this work proposes an uncertainty-based framework for mapping and planning3 feasible motions online with probabilistic safety-guarantees. The proposed approach deals with the motion, probabilistic safety, and online computation constraints by (i) incrementally representing the environment as a collection of local maps, and (ii) iteratively (re)planning kinodynamically-feasible and probabilistically-safe paths to goal. The proposed framework is evaluated on the Sparus II, a nonholonomic torpedo-shaped AUV, by conducting simulated and real-world trials, thus proving the efficacy of the method and its suitability even for systems with limited on-board computational power. |
| first_indexed | 2024-03-07T01:18:31Z |
| format | Conference item |
| id | oxford-uuid:8f86726d-81c5-454e-94fc-eb18538a9af9 |
| institution | University of Oxford |
| last_indexed | 2024-03-07T01:18:31Z |
| publishDate | 2019 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | oxford-uuid:8f86726d-81c5-454e-94fc-eb18538a9af92022-03-26T23:05:12ZUncertainty-based online mapping and motion planning for marine robotics guidanceConference itemhttp://purl.org/coar/resource_type/c_5794uuid:8f86726d-81c5-454e-94fc-eb18538a9af9Symplectic Elements at OxfordInstitute of Electrical and Electronics Engineers2019Pairet, ÈHernández, JLahijanian, MCarreras, MIn real-world robotics, motion planning remains to be an open challenge. Not only robotic systems are required to move through unexplored environments, but also their manoeuvrability is constrained by their dynamics and often suffer from uncertainty. One approach to overcome this problem is to incrementally map the surroundings while, simultaneously, planning a safe and feasible path to a desired goal. This is especially critical in underwater environments, where autonomous vehicles must deal with both motion and environment uncertainties. In order to cope with these constraints, this work proposes an uncertainty-based framework for mapping and planning3 feasible motions online with probabilistic safety-guarantees. The proposed approach deals with the motion, probabilistic safety, and online computation constraints by (i) incrementally representing the environment as a collection of local maps, and (ii) iteratively (re)planning kinodynamically-feasible and probabilistically-safe paths to goal. The proposed framework is evaluated on the Sparus II, a nonholonomic torpedo-shaped AUV, by conducting simulated and real-world trials, thus proving the efficacy of the method and its suitability even for systems with limited on-board computational power. |
| spellingShingle | Pairet, È Hernández, J Lahijanian, M Carreras, M Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title | Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title_full | Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title_fullStr | Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title_full_unstemmed | Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title_short | Uncertainty-based online mapping and motion planning for marine robotics guidance |
| title_sort | uncertainty based online mapping and motion planning for marine robotics guidance |
| work_keys_str_mv | AT pairete uncertaintybasedonlinemappingandmotionplanningformarineroboticsguidance AT hernandezj uncertaintybasedonlinemappingandmotionplanningformarineroboticsguidance AT lahijanianm uncertaintybasedonlinemappingandmotionplanningformarineroboticsguidance AT carrerasm uncertaintybasedonlinemappingandmotionplanningformarineroboticsguidance |