Feedback motion planning of unmanned surface vehicles via random sequential composition

Date

2019-08-01

Author

Ege, Emre
Ankaralı, Mustafa Mert

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

284
views

0
downloads

In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthesizing two different existing methodologies: sequential composition of dynamic behaviours and rapidly exploring random trees (RRT). The main motivation of this integrated solution is to develop a robust feedback-based and yet computationally feasible motion planning algorithm for USVs. In order to illustrate the main approach and show the feasibility of the method, we performed simulations and tested the overall performance and applicability for future experimental applications. We also tested the robustness of the method under relatively extreme environmental uncertainty. Simulation results indicate that our method can produce robust and computationally feasible solutions for a broad class of USVs.

Subject Keywords

Instrumentation

URI

https://hdl.handle.net/11511/40077

Journal

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL

DOI

https://doi.org/10.1177/0142331218822698

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Ultrafast spectroscopy diagnostic to measure localized ion temperature and toroidal velocity fluctuations Uzun Kaymak, İlker Ümit; McKee, G. R.; Schoenbeck, N.; Smith, D.; Winz, G.; Yan, Z. (AIP Publishing, 2010-10-01) A dual-channel high-efficiency, high-throughput custom spectroscopic system has been designed and implemented at DIII-D to measure localized ion thermal fluctuations associated with drift wave turbulence. A large-area prism-coupled transmission grating and high-throughput collection optics are employed to observe C VI emission centered near lambda = 529 nm. The diagnostic achieves 0.25 nm resolution over a 2.0 nm spectral band via eight discrete spectral channels. A turbulence-relevant time resolution of 1 ...
Overview of the beam emission spectroscopy diagnostic system on the National Spherical Torus Experiment Smith, D. R.; Feder, H.; Feder, R.; Fonck, R. J.; Labik, G.; McKee, G. R.; Schoenbeck, N.; Stratton, B. C.; Uzun Kaymak, İlker Ümit; Winz, G. (AIP Publishing, 2010-10-01) A beam emission spectroscopy (BES) system has been installed on the National Spherical Torus Experiment (NSTX) to study ion gyroscale fluctuations. The BES system measures D-alpha emission from a deuterium neutral heating beam. The system includes two optical views centered at r/a approximate to 0.45 and 0.85 and aligned to magnetic field pitch angles at the neutral beam. f/1.5 collection optics produce 2-3 cm spot sizes at the neutral beam. The initial channel layout includes radial arrays, poloidal arrays...
Experimental test of vision-based navigation and system identification of an unmanned underwater survey vehicle (SAGA) for the yaw motion Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (SAGE Publications, 2019-05-01) In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle (SAGA) is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The yaw motion is realized by a suitable combination of right and left thrusters. The navigation problem is solved by using the inertial navigation system and vision-based measurements together. These are integrated to more accurately obtain navigation data for the vehicle. In addition, the magnetic compass i...
Apertureless scanning near field optical microscope with sub-10 nm resolution Bek, Alpan; KERN, KLAUS (AIP Publishing, 2006-04-01) We report on the implementation of a versatile dynamic mode apertureless scanning near field optical microscope (aSNOM) for nanoscopic investigations of optical properties at surfaces and interfaces. The newly developed modular aSNOM optomechanical unit is essentially integrable with a multitude of laser sources, homemade scanning probe microscopes (SPMs) as well as commercially available SPMs as demonstrated here. The instrument is especially designed to image opaque surfaces without a restriction to trans...
Energy calibration and resolution of the CMS electromagnetic calorimeter in pp collisions at root s=7 TeV Chatrchyan, S.; et. al. (IOP Publishing, 2013-09-01) The energy calibration and resolution of the electromagnetic calorimeter (ECAL) of the CMS detector have been determined using proton-proton collision data from LHC operation in 2010 and 2011 at a centre-of-mass energy of root s = 7 TeV with integrated luminosities of about 5 fb(-1). Crucial aspects of detector operation, such as the environmental stability, alignment, and synchronozation, are presented. The in-situ calibration procedures are discussed in detail and include the maintenance of the calibratio...

Citation Formats

E. Ege and M. M. Ankaralı, “Feedback motion planning of unmanned surface vehicles via random sequential composition,” TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, pp. 3321–3330, 2019, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40077.