Journal of the ACM (JACM)
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
Planning Algorithms
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
International Journal of Robotics Research
Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma
Journal of Field Robotics
Basic navigation, guidance and control of an Unmanned Surface Vehicle
Autonomous Robots
Differentially constrained mobile robot motion planning in state lattices
Journal of Field Robotics - Special Issue on Space Robotics, Part I
Path-following algorithms and experiments for an unmanned surface vehicle
Journal of Field Robotics
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
State-dependent trajectory planning and tracking control of unmanned surface vessels
ACC'09 Proceedings of the 2009 conference on American Control Conference
Survivability: measuring and ensuring path diversity
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On-line planning of nonholonomic trajectories in crowded and geometrically unknown environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A hybrid receding horizon control method for path planning in uncertain environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robotics and Autonomous Systems
Search and pursuit-evasion in mobile robotics
Autonomous Robots
Iterative MILP methods for vehicle-control problems
IEEE Transactions on Robotics
Robotics and Autonomous Systems
Differentially constrained motion planning with state lattice motion primitives
Differentially constrained motion planning with state lattice motion primitives
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The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios involve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended motion of the target boat. This paper presents a trajectory planning and tracking approach for following a differentially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicinity of the target boat, jointly defined as a motion goal, and tightly integrates it with trajectory planning and tracking components of the entire system. The trajectory planner generates a dynamically feasible, collision-free trajectory to allow the USV to safely reach the computed motion goal. Trajectory planning needs to be sufficiently fast and yet produce dynamically feasible and short trajectories due to the moving target. This required speeding up the planning by searching for trajectories through a hybrid, pose-position state space using a multi-resolution control action set. The search in the velocity space is decoupled from the search for a trajectory in the pose space. Therefore, the underlying trajectory tracking controller computes desired surge speed for each segment of the trajectory and ensures that the USV maintains it. We have carried out simulation as well as experimental studies to demonstrate the effectiveness of the developed approach.