scholarly journals A Two Layered Optimal Approach towards Cooperative Motion Planning of Unmanned Surface Vehicles in a Constrained Maritime Environment

2018 ◽  
Vol 51 (29) ◽  
pp. 378-383 ◽  
Author(s):  
Marco Bibuli ◽  
Yogang Singh ◽  
Sanjay Sharma ◽  
Robert Sutton ◽  
Daniel Hatton ◽  
...  
Keyword(s):  
Motion Planning ◽  
Unmanned Surface Vehicles ◽  
Cooperative Motion ◽  
Optimal Approach ◽  
Maritime Environment

scholarly journals A Novel Double Layered Hybrid Multi-Robot Framework for Guidance and Navigation of Unmanned Surface Vehicles in a Practical Maritime Environment

2020 ◽  
Vol 8 (9) ◽  
pp. 624 ◽  
Author(s):  
Yogang Singh ◽  
Marco Bibuli ◽  
Enrica Zereik ◽  
Sanjay Sharma ◽  
Asiya Khan ◽  
...  
Keyword(s):  
Motion Planning ◽  
Formation Control ◽  
Optimal Path ◽  
Unmanned Surface Vehicles ◽  
Research Areas ◽  
Online Planning ◽  
Cooperative Motion ◽  
Aggregation Technique ◽  
Global And Local ◽  
Multi Robot

Formation control and cooperative motion planning are two major research areas currently being used in multi robot motion planning and coordination. The current study proposes a hybrid framework for guidance and navigation of swarm of unmanned surface vehicles (USVs) by combining the key characteristics of formation control and cooperative motion planning. In this framework, two layers of offline planning and online planning are integrated and applied on a practical marine environment. In offline planning, an optimal path is generated from a constrained A* path planning approach, which is later smoothed using a spline. This optimal trajectory is fed as an input for the online planning where virtual target (VT) based multi-agent guidance framework is used to navigate the swarm of USVs. This VT approach combined with a potential theory based swarm aggregation technique provides a robust methodology of global and local collision avoidance based on known positions of the USVs. The combined approach is evaluated with the different number of USVs to understand the effectiveness of the approach from the perspective of practicality, safety and robustness.

Feedback motion planning of unmanned surface vehicles via random sequential composition

2019 ◽  
Vol 41 (12) ◽  
pp. 3321-3330 ◽  
Author(s):  
Emre Ege ◽  
Mustafa Mert Ankarali
Keyword(s):  
Motion Planning ◽  
Broad Class ◽  
Random Trees ◽  
Main Approach ◽  
Unmanned Surface Vehicles ◽  
Sequential Composition ◽  
Planning Algorithm ◽  
Overall Performance ◽  
Simulation Results ◽  
Feasible Solutions

In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthesizing two different existing methodologies: sequential composition of dynamic behaviours and rapidly exploring random trees (RRT). The main motivation of this integrated solution is to develop a robust feedback-based and yet computationally feasible motion planning algorithm for USVs. In order to illustrate the main approach and show the feasibility of the method, we performed simulations and tested the overall performance and applicability for future experimental applications. We also tested the robustness of the method under relatively extreme environmental uncertainty. Simulation results indicate that our method can produce robust and computationally feasible solutions for a broad class of USVs.

scholarly journals Path Tracking Algorithms for Non-Convex Waiter Motion Problem

2018 ◽  
Vol 62 (1) ◽  
pp. 16-23
Author(s):  
Ákos Nagy ◽  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Motion Planning ◽  
Optimization Problem ◽  
Minimum Energy ◽  
Real Life ◽  
Problem Formulation ◽  
Energy Planning ◽  
Special Area ◽  
Time Optimal ◽  
Motion Problem ◽  
Optimal Approach

Originally, motion planning was concerned with problems such as how to move an object from a start to a goal position without hitting anything. Later, it has extended with complications such as kinematics, dynamics, uncertainties, and also with some optimality purpose such as minimum-time, minimum-energy planning. The paper presents a time-optimal approach for robotic manipulators. A special area of motion planning is the waiter motion problem, in which a tablet is moved from one place to another as fastas possible, avoiding the slip of the object that is placed upon it. The presented method uses the direct transcription approach for the waiter problem, which means a optimization problem is formed in order to obtain a time-optimal control for the robot. Problem formulation is extended with a non-convex jerk constraints to avoid unwanted oscillations during the motion. The possible local and global solver approaches for the presented formulation are discussed, and the waiter motion problem is validated by real-life experimental results with a 6-DoF robotic arm.

scholarly journals Hybrid Partition-Based Patrolling Scheme for Maritime Area Patrol with Multiple Cooperative Unmanned Surface Vehicles

2020 ◽  
Vol 8 (11) ◽  
pp. 936
Author(s):  
Jiajia Xie ◽  
Rui Zhou ◽  
Jun Luo ◽  
Yan Peng ◽  
Yuan Liu ◽  
...  
Keyword(s):  
Forest Fires ◽  
Low Cost ◽  
Search And Rescue ◽  
Unmanned Surface Vehicles ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Path Planning Algorithm ◽  
The Given ◽  
Maritime Environment ◽  
Multi Robot

Multi-robot cooperative patrolling systems have been extensively employed in the civilian and military fields, including monitoring forest fires, marine search-and-rescue, and area patrol. Multi-robot area patrol problems refer to the activity that a team of robots works cooperatively and regularly to visit the key targets in the given area for security. Following consideration of the low cost and high safety of unmanned surface vehicles (USV), a team of USVs is organized to perform area patrol in a sophisticated maritime environment. In this paper, we establish a mathematical model considering the characteristics of the cooperative patrol task and the limited conditions of USVs. A hybrid partition-based patrolling scheme is proposed for a multi-USV system to visit targets with different importance levels in a maritime area. Firstly, a centralized area partition algorithm is utilized to partition the patrolling area according to the number of USVs. Secondly, a distributed path planning algorithm is applied to planning the patrolling path for each USV to visit the targets in a maritime environment to minimize the length of the patrolling path for the USV team. Finally, comparative experiments between the proposed scheme and other methods are carried out to validate the performance of the hybrid partition-based patrolling scheme. Simulation results and experimental analysis show the efficiency of the proposed hybrid partition-based patrolling scheme compared to several previous patrolling algorithms.

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