Autonomous River Navigation Using the Hamilton–Jacobi Framework for Underactuated Vehicles

Abstract: 

The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton-Jacobi-Bellman-Isaacs (HJBI) equations. The method is then validated experimentally.

Author: 
Weekly, Kevin
Tinka, Andrew
Anderson, Leah
Bayen, Alexandre M.
Publication date: 
October 1, 2014
Publication type: 
Journal Article
Citation: 
Weekly, K., Tinka, A., Anderson, L., & Bayen, A. M. (2014). Autonomous River Navigation Using the Hamilton–Jacobi Framework for Underactuated Vehicles. IEEE Transactions on Robotics, 30(5), 1250–1255. IEEE Transactions on Robotics. https://doi.org/10.1109/TRO.2014.2327288

Document

https://ieeexplore.ieee.org/abstract/document/6838996

Topics

ITS Berkeley topic page, Intelligent Transportation Systems topic page, Connected and Automated Vehicles topic page