Autonomous River Navigation Using the Hamilton-Jacobi Framework for Underactuated Vehicles

Autonomous River Navigation Using the Hamilton-Jacobi Framework for Underactuated Vehicles

The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton-Jac...

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Veröffentlicht in:IEEE transactions on robotics 2014-10, Vol.30 (5), p.1250-1255
Hauptverfasser: Weekly, Kevin, Tinka, Andrew, Anderson, Leah, Bayen, Alexandre M.
Format: Artikel
Sprache:eng
Schlagworte:
Autonomous underwater vehicles
Collision avoidance
Drift
Equations
Feasibility
Games
Mathematical analysis
Mathematical problems
Navigation
Networks
Partial differential equations
Remote sensing
Rivers
robot control
Robots
Sensors
Trajectory
Validation studies
Vehicles
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Beschreibung
Zusammenfassung:The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton-Jacobi-Bellman-Isaacs (HJBI) equations. The method is then validated experimentally.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2014.2327288