An anytime Visibility–Voronoi graph-search algorithm for generating robust and feasible unmanned surface vehicle paths

While path planning for Unmanned Surface Vehicles (USVs) is in many ways similar to path planning for ground vehicles, the lack of reliable USV models and significant maritime environmental uncertainties requires an increased focus on robustness and safety. This paper presents a novel graph construc...

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Vydáno v:	Autonomous robots Ročník 46; číslo 8; s. 911 - 927
Hlavní autoři:	Schoener, Marco, Coyle, Eric, Thompson, David
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York Springer US 01.12.2022 Springer Nature B.V
Témata:	Algorithms Artificial Intelligence Barriers Computer Imaging Control Cost function Empirical analysis Engineering Environment models Feasibility Mechatronics Obstacle avoidance Optimization Path planning Pattern Recognition and Graphics Robotics Robotics and Automation Safety Search algorithms Surface vehicles System effectiveness Uncertainty Unmanned vehicles Vehicles Visibility Vision Voronoi graphs USV Path planning Feasibility Anytime algorithm Graph search
ISSN:	0929-5593, 1573-7527
On-line přístup:	Získat plný text
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