氷海域における自律航行船のリアルタイムナビゲーション
Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters
氷に衝突するリスクと航行距離を最小化するため、格子ベースのプランナと再cedingホライズン計画を組み合わせたリアルタイム航法を提案し、シミュレーションと実海域実験で評価した。
著者: Rodrigue de Schaetzen, Alexander Botros, Robert Gash, Kevin Murrant, Stephen L. Smith
分類: cs.RO
原文アブストラクト
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.
