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USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles

[+] Author Affiliations
Petr Svec, Atul Thakur, Brual C. Shah, Satyandra K. Gupta

University of Maryland, College Park, MD

Paper No. DETC2012-71239, pp. 1297-1306; 10 pages
doi:10.1115/DETC2012-71239
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

Safe and efficient following of a time varying motion goal by an autonomous unmanned surface vehicle (USV) in a sea environment with obstacles is a challenge. The vehicle’s tracking capability is inherently influenced by its dynamics, the motion characteristics of the motion goal, as well as by the configuration of obstacles in the marine environment. We have developed an approach that utilizes a lattice-based trajectory planning to generate a dynamically feasible, resolution optimal, collision-free trajectory to allow the vehicle to reliably reach the motion goal. We utilized a trajectory following controller to achieve high tracking efficiency while still preserving motion safety. The entire approach is based on the developed USV system architecture that encapsulates the necessary trajectory planning components. We demonstrated the effectiveness of the developed planner in a simulated environment with static obstacles. In addition, we have developed a physical evaluation setup.

Copyright © 2012 by ASME

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