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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Bibliographic Details
Published in:	Autonomous robots Vol. 46; no. 8; pp. 911 - 927
Main Authors:	Schoener, Marco, Coyle, Eric, Thompson, David
Format:	Journal Article
Language:	English
Published:	New York Springer US 01.12.2022 Springer Nature B.V
Subjects:	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
Online Access:	Get full text
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