Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments

Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments

We propose a method for energy-optimized trajectory planning for autonomous surface vehicles (ASVs), which can handle arbitrary polygonal maps as obstacle constraints. The method comprises two stages: The first is a hybrid A* search that finds a dynamically feasible trajectory in a polygonal map on...

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Bibliographic Details
Main Authors: Glenn Bitar, Andreas B. Martinsen, Anastasios M. Lekkas, Morten Breivik
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Autonomous vehicles
collision avoidance
marine vehicles
motion planning
polygonal collision-avoidance constraints
trajectory optimization
Online Access:https://ieeexplore.ieee.org/document/9246499/

Internet

https://ieeexplore.ieee.org/document/9246499/

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