Trajectory planning for unmanned surface vehicles operating under wave-induced motion uncertainty in dynamic environments. (25th November 2020)

• Record Type: Journal Article
• Authors: Rajendran, Pradeep; Moscicki, Travis; Wampler, Jared; Ellenrieder, Karl von; Gupta, S. K.
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 6(2020:Nov./Dec.)
• Publication Date: 2020-11-25
• Subjects: Trajectory planning -- obstacle avoidance -- dynamic obstacles -- waves -- perception uncertainty -- motion uncertainty; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420958948
• Languages: English
• ISSNs: 1729-8806

Abstract

We present a deliberative trajectory planning method to avoid collisions with traffic vessels. It also plans traversal across wavefields generated by these vessels and minimizes the risk of failure. Our method searches over a state-space consisting of pose and time. And, it produces collision-free and minimum-risk trajectory. It uses a lookup table to account for motion uncertainty and failure risk. We also present speed-up techniques to increase performance. Our wave-aware planner produces plans that (1) have shorter execution times and safer when compared to previously developed reactive planning schemes and (2) comply with user-defined wave-traversal constraints and Collision Regulations (COLREGs)