Paper Info
Title
Wave-Aware Trajectory Planning for Unmanned Surface Vehicles Operating in Congested Environments
Abstract
Many practical operations like search and rescue operations are time-sensitive missions. In this paper, we present a wave-aware deliberative planner that avoids collisions with traffic vessels and also opportunistically traverses wavefields generated by these vessels while minimizing the execution time and the risk of failure. The planner performs a search over a 4D pose-time lattice to generate a collision-free, minimum-risk sequence of motion goals. It addresses motion uncertainty, failure risk and perception uncertainty. We also present heuristics and adaptive motion goals to speed-up computation. We present simulation results showing that our wave-aware planner produces plans that execute faster compared to the typical reactive planning scheme. We also present results from physical experiments showing the feasibility of the proposed approach.
Year
DOI
Venue
2018
10.1109/SSRR.2018.8468656
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
Field
DocType
wave-aware trajectory planning,congested environments,wave-aware deliberative planner,traffic vessels,4D pose-time lattice,motion uncertainty,failure risk,perception uncertainty,unmanned surface vehicles,collision avoidance,collision-free motion,minimum-risk sequence motion,maritime operations
Search and rescue,Simulation,Computer science,Failure risk,Planner,Reactive planning,Real-time computing,Heuristics,Execution time,Trajectory planning,Computation
Conference
ISBN
Citations 
PageRank 
978-1-5386-5573-3
0
0.34
References 
Authors
13
6
Name
Order
Citations
PageRank
Pradeep Rajendran101.69
Travis Moscicki200.34
Jared Wampler300.34
Brual C. Shah4154.85
Karl von Ellenrieder571.55
Satyandra K Gupta668777.11