USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles
USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles
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DOI：
10.1115/detc2012-71239
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发表时间：
2012-08
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影响因子：
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通讯作者：
P. Svec;Atul Thakur;Brual C. Shah;Satyandra K. Gupta
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文献类型：
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作者：
P. Svec;Atul Thakur;Brual C. Shah;Satyandra K. Gupta
在有障碍物的海洋环境中，自主无人水面航行器(USV)安全有效地跟踪时变运动目标是一个挑战。飞行器的行走能力受其动力学特性、运动目标的运动特性以及海洋环境中障碍物的配置等因素的影响。我们开发了一种方法，该方法利用基于网格的轨迹规划来生成动态可行的、分辨率最优的c轨迹，以使飞行器可靠地到达运动目标。我们使用了轨迹跟踪控制器，在保持运动安全性的同时保持了很高的跟踪效率。整个方法是基于开发的USV系统体系结构，该体系结构封装了必要的轨迹规划组件。我们在带有静态障碍物的模拟环境中验证了所开发的p的有效性。此外，我们还开发了一套体能评估系统。
Safe and efficient following of a time varying motion goal by a n autonomous unmanned surface vehicle (USV) in a sea environment with obstacles is a challenge. The vehicle’s tr acking capability is inherently influenced by its dynamics,the motion characteristics of the motion goal, as well as by the configur ation of obstacles in the marine environment. We have develo ped an approach that utilizes a lattice-based trajectory plannin g to generate a dynamically feasible, resolution optimal, c trajectory to allow the vehicle to reliably reach the motiongoal. We utilized a trajectory following controller to achi eve high tracking efficiency while still preserving motion safety. The entire approach is based on the developed USV system archi tecture that encapsulates the necessary trajectory planning compo nents. We demonstrated the effectiveness of the developed p in a simulated environment with static obstacles. In additi on, we have developed a physical evaluation setup.