Name
Title | ||
|---|---|---|
Navigation Of Autonomous Vehicles For Oil Spill Cleaning In Dynamic And Uncertain Environments |
Abstract | ||
|---|---|---|
In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1080/00207179.2013.858829 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | Field | DocType |
complete coverage, oil spill, unknown environment, autonomous agents, path planning | Motion planning,Autonomous agent,Oil spill,Mathematical optimization,Simulation,Maxima and minima,Real-time computing,Engineering | Journal |
Volume | Issue | ISSN |
87 | 4 | 0020-7179 |
Citations | PageRank | References |
7 | 0.55 | 17 |
Authors | ||
2 | ||