Projects per year
Abstract
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path deviation is to be generated. The sampling strategy is integrated within the optimal rapidly-exploring random tree algorithm, which minimizes the length of the path deviation. Further, the feasibility of the path with respect to the steering characteristics of own ship is verified by ensuring that the position of the new waypoints respects the minimum turning radius of the vessel. The proposed sampling strategy brings a significant performance improvement both in terms of optimal cost, computational speed and convergence rate.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2021 IEEE International Conference on Robotics and Automation |
| Number of pages | 7 |
| Publisher | IEEE |
| Publication status | Accepted/In press - 2021 |
| Event | 2021 International Conference on Robotics and Automation - Xi’an International Convention and Exhibition Center, Xi’an, China Duration: 30 May 2021 → 5 Jun 2021 |
Conference
| Conference | 2021 International Conference on Robotics and Automation |
|---|---|
| Location | Xi’an International Convention and Exhibition Center |
| Country | China |
| City | Xi’an |
| Period | 30/05/2021 → 05/06/2021 |
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Projects
- 1 Active
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ShippingLab Autonomy
Blanke, M., Galeazzi, R., Dittmann, K., Hansen, S., Papageorgiou, D., Nalpantidis, L., Schöller, F. E. T., Plenge-Feidenhans'l, M. K., Hansen, N., Andersen, R. H., Becktor, J. B., Enevoldsen, T. T., Dagdilelis, D., Karstensen, P. I. H., Nielsen, R. E., Garde, J. & Ravn, O.
01/04/2019 → 31/12/2022
Project: Research