| DOI | Trouver le DOI : https://doi.org/10.1109/ICRA48891.2023.10161044 |
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| Auteur | Rechercher : De Schaetzen, Rodrigue; Rechercher : Botros, Alexander; Rechercher : Gash, Robert1; Rechercher : Murrant, Kevin1; Rechercher : Smith, Stephen L. |
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| Affiliation | - Conseil national de recherches du Canada. Génie océanique, côtier et fluvial
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| Bailleur de fonds | Rechercher : Natural Sciences and Engineering Research Council of Canada; Rechercher : National Research Council Canada |
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| Format | Texte, Article |
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| Conférence | 2023 IEEE International Conference on Robotics and Automation (ICRA), May 29 - June 2, 2023, London, United Kingdom |
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| Sujet | costs; navigation; dynamics; predictive models; ice; real-time systems; planning |
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| Résumé | Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and distance travelled by the vessel. We exploit a lattice-based planner with a cost that captures the ship interaction with ice. To address the dynamic nature of the environment, we plan motion in a receding horizon manner based on updated vessel and ice state information. Further, we present a novel planning heuristic for evaluating the cost-to-go, which is applicable to navigation in a channel without a fixed goal location. The performance of our planner is evaluated across several levels of ice concentration both in simulated and in real-world experiments. |
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| Date de publication | 2023-05-29 |
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| Maison d’édition | IEEE |
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| Dans | |
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| Langue | anglais |
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| Publications évaluées par des pairs | Oui |
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| Exporter la notice | Exporter en format RIS |
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| Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
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| Identificateur de l’enregistrement | 0388c5f0-5b19-400d-887a-6dd761422501 |
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| Enregistrement créé | 2024-06-24 |
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| Enregistrement modifié | 2024-06-24 |
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