Feedback motion planning of a novel fully actuated unmanned surface vehicle via sequential composition of random elliptical funnels

Özdemir, Oğuz
This thesis proposes and analyzes a motion planning and control schema for unmanned surface vehicles that fuses sampling-based approaches’ probabilistic completeness with closed-loop approaches’ robustness. The Proposed schema is based on the sequential composition of elliptical funnels, and it consists of two stages: tree generation and motion control. For validation of the approach, we carried out experiments using both simulation and physical setup besides the mathematical analysis. In order to have a common interface for both the simulations and the physical setup and to reduce duplication of work done, we implemented the approach as a ROS (Robot Operating System) node that can interface both similarly. Our results show that the proposed method handles the disturbances with minimal disruptions in the stability of the system. Furthermore, elliptic funnels improve the sparsity of the tree compared to the circular ones, thus, resulting in fewer mode changes.


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Citation Formats
O. Özdemir, “Feedback motion planning of a novel fully actuated unmanned surface vehicle via sequential composition of random elliptical funnels,” M.S. - Master of Science, Middle East Technical University, 2022.