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This work presents the first experimental results of the real-time motion planner developed within an on-going research project between DIBRIS, University of Genova and Selex-ES, Italy, one of the leading players for providing large systems aimed at security and surveillance. The ultimate goal of the research project is the development of a complete solution for managing and supervising a team of...
This paper describes the design and construction of a Low Cost Autonomous Underwater Vehicle prototype for Antarctic Exploration to use it in the Ecuadorian Expedition to the Scientific Base Pedro Vicente Maldonado in Antarctica. This AUV can work as a platform to transport scientific payload in a determined path. The AUV length is less than 2m. Results of some systems of the AUV from laboratory,...
To address the local path planning problem for autonomous land vehicle in unstructured environments, a novel method combining navigation function and A* search is proposed. The computed navigation function in this paper embodies different constraints of vehicle, so in fact to be a near-feasible trajectory. Next the navigation function and sensed obstacles is used to construct the heuristic function,...
With the development of the intelligent transportation systems (ITS), and the widely used technologies of road testing, machine vision etc. in the field of intelligent vehicle, it is possible for the smart car to move automatically in well-structured environments. As for urban complex environments, the researches on unmanned intelligent vehicle are still at the initial stage. For the more complex...
In this work we focus on mission planning problems in scenarios in which a carrier vehicle, typically slow but with virtually infinite range, and a carried vehicle, which on the contrary is typically fast but has a shorter range, are coordinated to make the faster vehicle visit a given collection of points in minimum time. In particular in this paper we will address two mission planning problems:...
A sea demining system using autonomous marine surface vehicles (AMSV) is introduced. The research involves the development of exemplars of these vehicles, and the procedures for area scanning and coverage. The demining is made by field influence, towing a submerged “fish”. This study is made both with simulations and with scale experiments.
When employing autonomous vehicles, it is desirable to use controllers which can be rigorously shown to always ensure safety is maintained. In this manuscript we compare two approaches for the problem of navigation through environments containing obstacles. The first uses boundary following to maintain an avoidance distance to obstacles, and the second uses a MPC-type algorithm to plan short range...
Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
This paper investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted...
Distress inspection is an important task in pavement maintenance. Pavement inspection requires tremendous human resources, so many investigators start developing automatic and robotic inspection methods to increase the efficiency and accuracy. However, the systems they developed are applicable for network-level inspection (large areas, long-distance) but too expensive or too big for project-level...
In this paper we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach only uses onboard sensors in a simultaneous localization...
This paper proposes a pose-based algorithm to solve the full Simultaneous Localization And Mapping (SLAM) problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. A probabilistic scan matching technique using range scans gathered from a Mechanical Scanning Imaging Sonar (MSIS) is used together with the robot dead-reckoning displacements. The...
Doppler Velocity Logs (DVLs) have become increasingly popular as navigation tools on remotely-operated vehicles, autonomous underwater vehicles, and human-occupied vehicles for over a decade. Using acoustic measurements to capture bottom tracking velocity measurements, DVLs can provide updated velocities which can in turn be used to calculate distance traveled. Thus, DVLs can perform as fundamental...
Terrain aided navigation techniques are attractive for obtaining submerged position fixes for an underwater vehicle. This paper describes results from a real-time terrain navigation system developed for the HUGIN AUV family. The system is a result of previous work on terrain navigation at FFI and has been tested in sea trials on several occasions. In the test described herein, DVL altitude data was...
Multiple cooperative vehicles, joined in an acoustic communication network, can perform time-critical, cooperative operations given a robust task allocation mechanism and an efficient path planning model. In this paper, we present solutions for the task-allocation and path-planning problems of the cooperative schema for multiple AUVs: a Location-Aided task Allocation Framework (LAAF) algorithm for...
This paper describes a comparison of experimentally identified dynamic models for the planar motion of an unmanned surface vehicle (USV). The objective is to determine a model which is rich enough to enable effective motion planning and control, simple enough to allow straight forward parameter identification, and general enough to describe a variety of hullforms and actuator configurations. Starting...
This paper addresses the simultaneous localization and control of an AUV using a single acoustic beacon. To determine its horizontal position, the AUV fuses distances to the single beacon with dead reckoning data, heading and longitudinal velocity. A particle filter and an extended Kalman filter are implemented and compared in terms of performances. As this is an ill-posed problem, special guidance...
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
This paper presents a few important practice-oriented requirements for optimal path planning for the AUV “SLOCUM Glider” as well as solutions using fast graph based algorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
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