Feasibility study of a constrained Dijkstra approach for optimal path planning of an unmanned surface vehicle in a dynamic maritime environment
dc.contributor.author | Singh, Y | |
dc.contributor.author | sharma, sanjay | |
dc.contributor.author | Sutton, R | |
dc.contributor.author | Hatton, Daniel | |
dc.contributor.author | Khan, Asiya | |
dc.contributor.editor | Costelha H | |
dc.contributor.editor | Calado J | |
dc.contributor.editor | Conde Bento L | |
dc.contributor.editor | Lopes N | |
dc.contributor.editor | Oliveira P | |
dc.date.accessioned | 2018-06-22T11:41:16Z | |
dc.date.available | 2018-06-22T11:41:16Z | |
dc.date.issued | 2018-06-11 | |
dc.identifier.isbn | 9781538652206 | |
dc.identifier.issn | 2573-9360 | |
dc.identifier.issn | 2573-9387 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/11715 | |
dc.description | Copy deposited in PEARL for open access under terms in penultimate paragraph of <https://web.archive.org/web/20180429083654/https://www.ieee.org/publications/rights/copyright-main.html> | |
dc.description.abstract |
Optimal path planning is an important part of mission management hierarchy in a modern unmanned surface vehicle (USV) guidance, navigation and control frame work. USVs operate in a complex dynamic marine environment comprising of moving obstacles and sea surface currents. These characterising variables of configuration space change spatially as well as temporally. The current work investigates a well-known search technique, the Dijkstra algorithm, to resolve the problem of motion planning for a USV moving in a maritime environment. The current study extends the implementation of Dijkstra algorithm in a space cluttered with static and moving obstacles. In addition, downstream and upstream effects of sea surface currents of different intensities on optimal path planning are studied. The performance is verified in simulations with total path length and elapsed computational time considered as parameters to determine the effectiveness of the adopted approach. The results showed that the approach is effective for global path planning of USVs. | |
dc.format.extent | 117-122 | |
dc.language.iso | en | |
dc.publisher | Institute of Electrical and Electronics Engineers | |
dc.subject | Moving obstacles | |
dc.subject | Ocean current | |
dc.subject | Path planning | |
dc.subject | Unmanned surface vehicle | |
dc.title | Feasibility study of a constrained Dijkstra approach for optimal path planning of an unmanned surface vehicle in a dynamic maritime environment | |
dc.type | conference | |
dc.type | Conference Proceeding | |
plymouth.author-url | https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000435384800021&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008 | |
plymouth.date-start | 2018-04-25 | |
plymouth.date-finish | 2018-04-27 | |
plymouth.issue | CFP1882X-USB | |
plymouth.publisher-url | https://ieeexplore.ieee.org/document/8374170/ | |
plymouth.conference-name | 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) | |
plymouth.publication-status | Published | |
plymouth.journal | ICARSC 2018: IEEE International Conference on Autonomous Robot Systems and Competitions | |
dc.identifier.doi | 10.1109/ICARSC.2018.8374170 | |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering | |
plymouth.organisational-group | /Plymouth/Research Groups | |
plymouth.organisational-group | /Plymouth/Research Groups/Marine Institute | |
plymouth.organisational-group | /Plymouth/Users by role | |
plymouth.organisational-group | /Plymouth/Users by role/Academics | |
dc.publisher.place | Torres Vedras | |
dc.publisher.place | Danvers | |
dcterms.dateAccepted | 2018-03-11 | |
dc.identifier.eissn | 2573-9387 | |
dc.rights.embargoperiod | No embargo | |
rioxxterms.versionofrecord | 10.1109/ICARSC.2018.8374170 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.licenseref.startdate | 2018-06-11 | |
rioxxterms.type | Conference Paper/Proceeding/Abstract |