Title | ||
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Planning and executing optimal non-entangling paths for tethered underwater vehicles. |
Abstract | ||
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In this paper, we present a method to improve the navigation of tethered underwater vehicles by computing optimal paths that prevent their tethers from becoming entangled in obstacles. To accomplish this, we define the Non-Entangling Travelling Salesperson Problem (NE-TSP) as an extension of the Travelling Salesperson Problem with a non-entangling constraint. We compute the optimal solution to the NE-TSP by constructing a Mixed Integer Programming model, leveraging homotopy augmented graphs to plan an optimal trajectory through a set of inspection points, while maintaining a non-entangling guarantee. To avoid the computational expense of computing an optimal solution to the NE-TSP, we also introduce several methods to compute near-optimal solutions. In a set of simulated trials, our method was able to plan optimal non-entangling paths through a variety of environments. These results were then validated in a set of pool and field trials using a Seabotix vLBV300 underwater vehicle. The paths generated by our method were then compared to human-generated paths. |
Year | DOI | Venue |
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2017 | 10.1109/ICRA.2017.7989349 | ICRA |
Field | DocType | Volume |
Graph,Optimal trajectory,Mathematical optimization,Control theory,Integer programming,Engineering,Homotopy,Underwater vehicle,Trajectory,Underwater | Conference | 2017 |
Issue | Citations | PageRank |
1 | 0 | 0.34 |
References | Authors | |
6 | 2 |
Name | Order | Citations | PageRank |
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Seth McCammon | 1 | 0 | 2.37 |
Geoffrey A. Hollinger | 2 | 334 | 27.61 |