相关论文: Optimized Path Planning for USVs under Ocean Curre…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…
During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
We introduce a novel formulation of motion planning, for continuous-time trajectories, as probabilistic inference. We first show how smooth continuous-time trajectories can be represented by a small number of states using sparse Gaussian…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
Gaussian Process Motion Planning (GPMP) is a widely used framework for generating smooth trajectories within a limited compute time--an essential requirement in many robotic applications. However, traditional GPMP approaches often struggle…
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
Autonomous marine vehicles play an essential role in many ocean science and engineering applications. Planning time and energy optimal paths for these vehicles to navigate in stochastic dynamic ocean environments is essential to reduce…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
Path planning is essential for unmanned aerial vehicles (UAVs) as it determines the path that the UAV needs to follow to complete a task. This work addresses this problem by introducing a new algorithm called navigation variable-based…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
In the context of ground robot navigation in unstructured hazardous environments, the coupling of efficient path planning with an adequate environment representation is a crucial topic in order to guarantee the robot safety while ensuring…