Autonomous Pilot of Unmanned Surface Vehicles: Bridging Path Planning and Tracking

Autonomous pilot is crucial in integrally promoting the autonomy of an unmanned surface vehicle (USV). However, the integration mechanism of decision and control is still unclear within the entire autonomy. In this paper, by organically bridging path planning and tracking, an autonomous pilot framew...

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Bibliographic Details
Published in:	IEEE transactions on vehicular technology Vol. 71; no. 3; pp. 2358 - 2374
Main Authors:	Wang, Ning, Zhang, Yuhang, Ahn, Choon Ki, Xu, Qingyang
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.03.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Autonomous pilot Autonomy Constraints Decision making deep reinforcement learning elite-duplication genetic algorithm Genetic algorithms Heuristic algorithms Interpolation Machine learning Optimization Path planning path planning-tracking integration Path tracking Pilotage Smoothing Smoothing methods Splines (mathematics) Surface vehicles Tracking errors unmanned surface vehicle Unmanned vehicles Vehicle dynamics Waypoints
ISSN:	0018-9545, 1939-9359
Online Access:	Get full text
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