DocumentCode
59805
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
Volume
30
Issue
5
fYear
2014
fDate
Oct. 2014
Firstpage
1250
Lastpage
1255
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;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2014.2327288
Filename
6838996
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