31,884 research outputs found
Static and Dynamic Path Planning Using Incremental Heuristic Search
Path planning is an important component in any highly automated vehicle
system. In this report, the general problem of path planning is considered
first in partially known static environments where only static obstacles are
present but the layout of the environment is changing as the agent acquires new
information. Attention is then given to the problem of path planning in dynamic
environments where there are moving obstacles in addition to the static ones.
Specifically, a 2D car-like agent traversing in a 2D environment was
considered. It was found that the traditional configuration-time space approach
is unsuitable for producing trajectories consistent with the dynamic
constraints of a car. A novel scheme is then suggested where the state space is
4D consisting of position, speed and time but the search is done in the 3D
space composed by position and speed. Simulation tests shows that the new
scheme is capable of efficiently producing trajectories respecting the dynamic
constraint of a car-like agent with a bound on their optimality.Comment: Internship Repor
Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel
This paper describes the design, implementation and testing of a suite of
algorithms to enable depth constrained autonomous bathymetric (underwater
topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth
and a bounding polygon, the ASV will find and follow the intersection of the
bounding polygon and the depth contour as modeled online with a Gaussian
Process (GP). This intersection, once mapped, will then be used as a boundary
within which a path will be planned for coverage to build a map of the
Bathymetry. Methods for sequential updates to GP's are described allowing
online fitting, prediction and hyper-parameter optimisation on a small embedded
PC. New algorithms are introduced for the partitioning of convex polygons to
allow efficient path planning for coverage. These algorithms are tested both in
simulation and in the field with a small twin hull differential thrust vessel
built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field
Robotic
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