Pairet, Èric, Hernández, Juan David ![]() ![]() |
Preview |
PDF
- Accepted Post-Print Version
Download (5MB) | Preview |
Abstract
In real-world robotics, motion planning remains to be an open challenge. Not only robotic systems are required to move through unexplored environments, but also their manoeuvrability is constrained by their dynamics and often suffer from uncertainty. One approach to overcome this problem is to incrementally map the surroundings while, simultaneously, planning a safe and feasible path to a desired goal. This is especially critical in underwater environments, where autonomous vehicles must deal with both motion and environment uncertainties. In order to cope with these constraints, this work proposes an uncertainty-based framework for mapping and planning feasible motions online with probabilistic safety-guarantees. The proposed approach deals with the motion, probabilistic safety, and online computation constraints by (i) incrementally representing the environment as a collection of local maps, and (ii) iteratively (re)planning kinodynamically-feasible and probabilistically-safe paths to goal. The proposed framework is evaluated on the Sparus II, a nonholonomic torpedo-shaped AUV, by conducting simulated and real-world trials, thus proving the efficacy of the method and its suitability even
Item Type: | Conference or Workshop Item (Paper) |
---|---|
Date Type: | Publication |
Status: | Published |
Schools: | Engineering |
Additional Information: | "© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works." |
ISBN: | 9781538680957 |
ISSN: | 2153-0866 |
Date of First Compliant Deposit: | 19 February 2021 |
Date of Acceptance: | 29 June 2018 |
Last Modified: | 09 Nov 2022 10:10 |
URI: | https://orca.cardiff.ac.uk/id/eprint/138527 |
Citation Data
Cited 12 times in Scopus. View in Scopus. Powered By Scopus® Data
Actions (repository staff only)
![]() |
Edit Item |