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 proceedingConference contribution

3 Citations (Scopus)
112 Downloads (Pure)


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 languageEnglish
Title of host publicationOCEANS 2018 MTS/IEEE Charleston
ISBN (Electronic)9781538648148
Publication statusPublished - 10 Jan 2019
EventOCEANS 2018 MTS/IEEE Charleston - Charleston, United States
Duration: 22 Oct 201825 Oct 2018

Publication series

NameOCEANS Conference
ISSN (Print)0197-7385


ConferenceOCEANS 2018 MTS/IEEE Charleston
Abbreviated titleOCEANS 2018
Country/TerritoryUnited States


  • ASV
  • AUV
  • Cooperative robotics
  • Kinodynamics
  • Path Planning

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography


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