Kinodynamic Path Planning for Following and Tracking Vehicles

Jonatan Scharff Willners; Yvan R. Petillot; Pedro Patron; Daniel Gonzalez-Adell

doi:10.1109/OCEANS.2018.8604846

Kinodynamic Path Planning for Following and Tracking Vehicles

Jonatan Scharff Willners, Yvan R. Petillot, Pedro Patron, Daniel Gonzalez-Adell

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

131 Downloads (Pure)

Abstract

This paper presents a novel approach to planning vehicle paths under kinodynamic constraints in a leader follower scenario where the follower vehicle has to track and follow the leader. This problem is important in the maritime domain where Autonomous Underwater Vehicles (AUVs) can greatly benefit from an Autonomous Surface Vehicle (ASV) acting as a Communication Relay (CR) and/or a Navigational Aid (NA), typically using acoustic communication. The proposed approach is an extension of Hybrid-A∗(HA∗), a hybrid version of A∗ which enables the derivation of paths that are obstacle free and feasible by the vehicle. The proposed algorithm finds a solution, if it exists, for scenarios where the leader and the follower operate under the same kinematic constraints as well as when they differ. Various simulations using multiple configurations and scenarios are presented to validate the approach. Whilst the work presented here has a focus on the maritime environment, the algorithm is applicable to other domains.

Original language	English
Title of host publication	OCEANS 2018 MTS/IEEE Charleston
Publisher	IEEE
ISBN (Electronic)	9781538648148
DOIs	https://doi.org/10.1109/OCEANS.2018.8604846
Publication status	Published - 10 Jan 2019
Event	OCEANS 2018 MTS/IEEE Charleston - Charleston, United States Duration: 22 Oct 2018 → 25 Oct 2018

Publication series

Name	OCEANS Conference
Publisher	IEEE
ISSN (Print)	0197-7385

Conference

Conference	OCEANS 2018 MTS/IEEE Charleston
Abbreviated title	OCEANS 2018
Country/Territory	United States
City	Charleston
Period	22/10/18 → 25/10/18

Keywords

ASV
AUV
Cooperative robotics
Kinodynamics
Path Planning

ASJC Scopus subject areas

Renewable Energy, Sustainability and the Environment
Oceanography

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/OCEANS.2018.8604846

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Cite this

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title = "Kinodynamic Path Planning for Following and Tracking Vehicles",

abstract = "This paper presents a novel approach to planning vehicle paths under kinodynamic constraints in a leader follower scenario where the follower vehicle has to track and follow the leader. This problem is important in the maritime domain where Autonomous Underwater Vehicles (AUVs) can greatly benefit from an Autonomous Surface Vehicle (ASV) acting as a Communication Relay (CR) and/or a Navigational Aid (NA), typically using acoustic communication. The proposed approach is an extension of Hybrid-A∗(HA∗), a hybrid version of A∗ which enables the derivation of paths that are obstacle free and feasible by the vehicle. The proposed algorithm finds a solution, if it exists, for scenarios where the leader and the follower operate under the same kinematic constraints as well as when they differ. Various simulations using multiple configurations and scenarios are presented to validate the approach. Whilst the work presented here has a focus on the maritime environment, the algorithm is applicable to other domains.",

keywords = "ASV, AUV, Cooperative robotics, Kinodynamics, Path Planning",

author = "{Scharff Willners}, Jonatan and Petillot, {Yvan R.} and Pedro Patron and Daniel Gonzalez-Adell",

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T1 - Kinodynamic Path Planning for Following and Tracking Vehicles

AU - Scharff Willners, Jonatan

AU - Petillot, Yvan R.

AU - Patron, Pedro

AU - Gonzalez-Adell, Daniel

PY - 2019/1/10

Y1 - 2019/1/10

N2 - This paper presents a novel approach to planning vehicle paths under kinodynamic constraints in a leader follower scenario where the follower vehicle has to track and follow the leader. This problem is important in the maritime domain where Autonomous Underwater Vehicles (AUVs) can greatly benefit from an Autonomous Surface Vehicle (ASV) acting as a Communication Relay (CR) and/or a Navigational Aid (NA), typically using acoustic communication. The proposed approach is an extension of Hybrid-A∗(HA∗), a hybrid version of A∗ which enables the derivation of paths that are obstacle free and feasible by the vehicle. The proposed algorithm finds a solution, if it exists, for scenarios where the leader and the follower operate under the same kinematic constraints as well as when they differ. Various simulations using multiple configurations and scenarios are presented to validate the approach. Whilst the work presented here has a focus on the maritime environment, the algorithm is applicable to other domains.

AB - This paper presents a novel approach to planning vehicle paths under kinodynamic constraints in a leader follower scenario where the follower vehicle has to track and follow the leader. This problem is important in the maritime domain where Autonomous Underwater Vehicles (AUVs) can greatly benefit from an Autonomous Surface Vehicle (ASV) acting as a Communication Relay (CR) and/or a Navigational Aid (NA), typically using acoustic communication. The proposed approach is an extension of Hybrid-A∗(HA∗), a hybrid version of A∗ which enables the derivation of paths that are obstacle free and feasible by the vehicle. The proposed algorithm finds a solution, if it exists, for scenarios where the leader and the follower operate under the same kinematic constraints as well as when they differ. Various simulations using multiple configurations and scenarios are presented to validate the approach. Whilst the work presented here has a focus on the maritime environment, the algorithm is applicable to other domains.

KW - ASV

KW - AUV

KW - Cooperative robotics

KW - Kinodynamics

KW - Path Planning

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M3 - Conference contribution

AN - SCOPUS:85061818578

T3 - OCEANS Conference

BT - OCEANS 2018 MTS/IEEE Charleston

PB - IEEE

T2 - OCEANS 2018 MTS/IEEE Charleston

Y2 - 22 October 2018 through 25 October 2018

ER -

Kinodynamic Path Planning for Following and Tracking Vehicles

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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