Acceso al sitio web del Consejo de Políticas de Infraestructura

   
Redirigiendo al acceso original de articulo en 24 segundos...
ARTÍCULO
TITULO

Trajectory Planning of USV: On-Line Computation of the Double S Trajectory Based on Multi-Scale A* Algorithm with Reeds?Shepp Curves

Xu Han    
Xianku Zhang and Hugan Zhang    

Resumen

Trajectory planning aims to provide a time-related control target that contains the concerned states. For an underactuated surface vehicle (USV), planning challenges include limitations on curvature, speed, acceleration, and jerk. These challenges are relevant for the precise control of USVs. To solve these problems, an on-line double S method and multi-scale A* trajectory planning algorithm is proposed by integrating Reeds?Shepp curves (RSC), where a quad-tree-based graph is used for path planning and collision detection. Simulations illustrate that the proposed method has a better performance than the smooth rapid-exploration random tree (smooth-RRT) method and jump point search (JPS) method, and that path length and the state limitations are satisfied.

PÁGINAS
pp. 0 - 0

 Artículos similares

       
 
Rui Mu, Wenhao Yu, Zhongxing Li, Changjun Wang, Guangming Zhao, Wenhui Zhou and Mingyue Ma    
This work designed a motion planning algorithm for autonomous vehicles in unanticipated obstacle scenarios. In standard driving scenarios, the proposed motion planning algorithm plans a trajectory that complies with intersection regulations, including la... ver más
Revista: Applied Sciences

 
Junlin Lou, Burak Yuksek, Gokhan Inalhan and Antonios Tsourdos    
In this study, we consider the problem of motion planning for urban air mobility applications to generate a minimal snap trajectory and trajectory that cost minimal time to reach a goal location in the presence of dynamic geo-fences and uncertainties in ... ver más
Revista: Aerospace

 
Thi-Hong-Hanh Nguyen, Tien-Hung Hou, Hai-An Pham and Chia-Cheng Tsai    
Pollution caused by marine oil spills can lead to persistent ecological disasters and severe social and economic damages. Numerical simulations are useful and essential tools for accurate decision making during emergencies and planning response actions. ... ver más

 
Ye Xiao, Yupeng Hu, Jizhao Liu, Yi Xiao and Qianzhen Liu    
Ship trajectory prediction is essential for ensuring safe route planning and to have advanced warning of the dangers at sea. With the development of deep learning, most of the current research has explored advanced prediction methods based on historical ... ver más

 
Yu Dai, Jiaming Fu, Zhen Gao and Lei Yang    
Due to CPU and memory limitations, mobile IoT devices face challenges in handling delay-sensitive and computationally intensive tasks. Mobile edge computing addresses this issue by offloading tasks to the wireless network edge, reducing latency and energ... ver más
Revista: Applied Sciences