A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
CDC, pp. 4085-4092, 2020.
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) path planning in urban waterways. The proposed planner is lightweight, as it requires no prior map and is suitable for deployment on platforms with limited computational resources. To find a feasible path in the presence of obstacles, the planner repeate...More
PPT (Upload PPT)