Multiple marine vehicle deconicted path planning with currents and communication constraints

Andreas J. Häusler, Reza Ghabcheloo, António M. Pascoal, A. Pedro Aguiar

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    7 Citations (Scopus)

    Abstract

    Recent research in multiple autonomous marine vehicle (AMV) applications shows that versatile path planning algorithms are of crucial importance to cooperative control scenarios. These algorithms need to be lightweight in terms of running time and capable of incorporating different factors inuencing a given mission, like AMV dynamic constraints and environmental conditions. In addition, the path planner needs to take into account requirements imposed by multiple vehicle scenarios (of which collision avoidance is an important issue), and inter-vehicle communication constraints. Mission-related measures have to be incorporated additionally, such as minimization of energy usage over all participating AMVs, and simultaneous arrival of the AMVs at their designated target destinations, to name but a few. These aspects pose considerable challenges both from a theoretical and practical implementation standpoint. This paper presents a versatile path planning algorithm for deconicted multiple AMV missions at sea, incorporating single vehicle dynamical constraints as well as an inter-vehicle communication constraint. Additionally, it takes into account unknown constant ocean currents, and gives an overview on time-coordinated path following, a a closed-loop methodology to execute the planned mission, reducing the need for replanning in the presence of disturbances. The paper finishes with an outlook on important future directions to advance the algorithm.

    Original languageEnglish
    Title of host publication7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2010 - Proceedings
    PublisherElsevier
    Pages491-496
    Number of pages6
    ISBN (Print)9783902661876
    DOIs
    Publication statusPublished - 2010
    Publication typeA4 Article in conference proceedings

    Publication series

    NameIFAC Proceedings Volumes
    Number16
    Volume43
    ISSN (Print)1474-6670
    ISSN (Electronic)2589-3653

    Keywords

    • Deconicted path planning
    • Multiple autonomous marine vehicles
    • Time-coordinated path following

    ASJC Scopus subject areas

    • Control and Systems Engineering

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