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Abstract
This paper addresses local path re-planning for n-dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with
minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specified nominal path, such that the subset efficiently encapsulates all points along the nominal path. The cost function penalizes large deviations from the nominal path, thereby ensuring current safety in the face of potential collisions while retaining most of the overall efficiency of the nominal path. The proposed method is demonstrated on scenarios related to the navigation of autonomous marine crafts.
minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specified nominal path, such that the subset efficiently encapsulates all points along the nominal path. The cost function penalizes large deviations from the nominal path, thereby ensuring current safety in the face of potential collisions while retaining most of the overall efficiency of the nominal path. The proposed method is demonstrated on scenarios related to the navigation of autonomous marine crafts.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Number of pages | 7 |
| Publisher | IEEE |
| Publication status | Accepted/In press - 2023 |
| Event | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto International Conference Center, Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 https://iros2022.org/ |
Conference
| Conference | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Location | Kyoto International Conference Center |
| Country/Territory | Japan |
| City | Kyoto |
| Period | 23/10/2022 → 27/10/2022 |
| Internet address |
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ShippingLab Autonomy
Blanke, M., Galeazzi, R., Dittmann, K., Hansen, S., Papageorgiou, D., Nalpantidis, L., Schöller, F. E. T. S., 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., Christin, L. P. E. & Nielsen, R. E.
01/04/2019 → 31/12/2022
Project: Research