TY - GEN
T1 - Motion Planning for Marine Vehicles with Rigid-Body Dynamics
T2 - 2019 OCEANS - Marseille, OCEANS Marseille 2019
AU - Liang, Haojiao
AU - Li, Huiping
AU - Xu, Demin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - The paper studies the motion planning problem for marine vehicles in which both the power consumption of vehicles and the guiding effects of the desired trajectory are taken into account. An energy-saving cost with physical meaning is developed to pursue more economical maneuvering. And a tracking cost related with desired collision-free trajectories is designed to enable marine vehicles to pass through the areas we are interested in. By choosing the two costs as optimization objectives, we construct an optimization problem which obey the practical constraints, such as dynamics of marine vehicles, limitations of actuators, and the conditions of obstacle avoidance, terminal sates and arrival time. In addition, the procedure for the proposed motion planning scheme is organized into an algorithm. Finally, through comparative simulations, the effectiveness of the designed planning algorithm is verified and the tradeoff between economic and guiding performance is demonstrated.
AB - The paper studies the motion planning problem for marine vehicles in which both the power consumption of vehicles and the guiding effects of the desired trajectory are taken into account. An energy-saving cost with physical meaning is developed to pursue more economical maneuvering. And a tracking cost related with desired collision-free trajectories is designed to enable marine vehicles to pass through the areas we are interested in. By choosing the two costs as optimization objectives, we construct an optimization problem which obey the practical constraints, such as dynamics of marine vehicles, limitations of actuators, and the conditions of obstacle avoidance, terminal sates and arrival time. In addition, the procedure for the proposed motion planning scheme is organized into an algorithm. Finally, through comparative simulations, the effectiveness of the designed planning algorithm is verified and the tradeoff between economic and guiding performance is demonstrated.
KW - desired trajectories
KW - economic performance
KW - marine vehicles
KW - Motion planning
UR - http://www.scopus.com/inward/record.url?scp=85103689807&partnerID=8YFLogxK
U2 - 10.1109/OCEANSE.2019.8867365
DO - 10.1109/OCEANSE.2019.8867365
M3 - 会议稿件
AN - SCOPUS:85103689807
T3 - OCEANS 2019 - Marseille, OCEANS Marseille 2019
BT - OCEANS 2019 - Marseille, OCEANS Marseille 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 17 June 2019 through 20 June 2019
ER -
