Paper Info
Title
Stochastic Path Planning For Autonomous Underwater Gliders With Safety Constraints
Abstract
Autonomous underwater gliders frequently execute extensive missions with high levels of uncertainty due to limitations of sensing, control and oceanic forecasting. Glider path planning seeks an optimal path with respect to conflicting objectives, such as travel cost and safety, that must be explicitly balanced subject to these uncertainties. In this paper, we derive a set of recursive equations for state probability and expected travel cost conditional on safety, and use them to implement a new stochastic variant of FMT* in the context of two types of objective functions that allow a glider to reach a destination region with minimum cost or maximum probability of arrival given a safety threshold. We demonstrate the framework using three simulated examples that illustrate how user-prescribed safety constraints affect the results.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8968250
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Motion planning,Computer science,Operations research,Steady state probability,Safety constraints,Control engineering,Glider,Recursion,Travel cost,Underwater glider
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Chanyeol Yoo1175.58
Stuart Anstee212.09
Robert Fitch332338.97