Title :
Autonomous River Navigation Using the Hamilton–Jacobi Framework for Underactuated Vehicles
Author :
Weekly, Kevin ; Tinka, Andrew ; Anderson, Lindsay ; Bayen, Alexandre M.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, Berkeley, CA, USA
Abstract :
The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton-Jacobi-Bellman-Isaacs (HJBI) equations. The method is then validated experimentally.
Keywords :
collision avoidance; distributed sensors; marine vehicles; mobile robots; partial differential equations; rivers; HJBI equations; Hamilton-Jacobi framework; Hamilton-Jacobi-Bellman-Isaacs equations; autonomous river navigation; complex water networks; motorized floating sensors; obstacle avoidance; path selection; tidally forced water networks; underactuated vehicles; Collision avoidance; Equations; Games; Rivers; Robots; Sensors; Trajectory; Remote sensing; robot control;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2014.2327288
