A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways

Tixiao Shan
Tixiao Shan
Wei Wang
Wei Wang

CDC, pp. 4085-4092, 2020.

Cited by: 0|Bibtex|Views14|DOI:https://doi.org/10.1109/CDC42340.2020.9304298
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Other Links: arxiv.org|dblp.uni-trier.de|academic.microsoft.com

Abstract:

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

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