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doi:10.22028/D291-38196
Titel: | Autonomous navigation of ships by combining optimal trajectory planning with informed graph search |
VerfasserIn: | Lüttgens, Luis Jurgelucks, Benjamin Wernsing, Heinrich Roy, Sylvain Büskens, Christof Flaßkamp, Kathrin |
Sprache: | Englisch |
Titel: | Mathematical and Computer Modelling of Dynamical Systems |
Bandnummer: | 28 |
Heft: | 1 |
Seiten: | 1-27 |
Verlag/Plattform: | Taylor & Francis |
Erscheinungsjahr: | 2022 |
Freie Schlagwörter: | Motion planning optimal control autonomous navigation A* planning ship dynamics |
DDC-Sachgruppe: | 500 Naturwissenschaften |
Dokumenttyp: | Journalartikel / Zeitschriftenartikel |
Abstract: | Autonomous trajectory generation plays an essential role in the navigation of vehicles in space as well as in terrestrial scenarios, i.e. in the air, on solid ground, or water. For the latter, the navigation of ships in ports has specific challenges since ship dynamics are highly nonlinear with limited agility, while the manoeuvre space in ports is limited. Nevertheless, for providing support to humanly designed control strategies, autonomously generated trajectories have not only to be feasible, i.e. collision-free but shall also be optimal with respect to manoeuvre time and control effort. This article presents a novel approach to autonomous trajectory planning on the basis of precomputed and connectable trajectory segments, the so-called motion primitives, and an A*-search algorithm. Sequences of motion primitives provide an initial guess for a subsequent optimization by which optimal trajectories are found even in terrains with many obstacles. We illustrate the approach with different navigation scenarios. |
DOI der Erstveröffentlichung: | 10.1080/13873954.2021.2007138 |
URL der Erstveröffentlichung: | https://www.tandfonline.com/doi/full/10.1080/13873954.2021.2007138 |
Link zu diesem Datensatz: | urn:nbn:de:bsz:291--ds-381960 hdl:20.500.11880/34477 http://dx.doi.org/10.22028/D291-38196 |
ISSN: | 1744-5051 1387-3954 |
Datum des Eintrags: | 24-Nov-2022 |
Fakultät: | NT - Naturwissenschaftlich- Technische Fakultät |
Fachrichtung: | NT - Systems Engineering |
Professur: | NT - Univ.-Prof. Dr. Kathrin Flaßkamp |
Sammlung: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
Dateien zu diesem Datensatz:
Datei | Beschreibung | Größe | Format | |
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Autonomous navigation of ships by combining optimal trajectory planning with informed graph search.pdf | 4,28 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons