TY - JOUR
T1 - Mission-Oriented Gaussian Process Motion Planning for UUVs Over Complex Seafloor Terrain and Current Flows
AU - Huang, Yewei
AU - Lin, Xi
AU - Hernandez-Rocha, Mariana
AU - Narain, Sanjai
AU - Pochiraju, Kishore
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024/2/1
Y1 - 2024/2/1
N2 - Wepresent a novel motion planning framework for unmanned underwater vehicles (UUVs) - the first framework that applies Gaussian process motion planning to solve a 3D path planning problem for a 6-DoF robot in underwater environments. We address missions requiring UUVs to remain in close proximity to seafloor terrain, which must be achieved alongside collision avoidance. Our framework also considers the influence of current flows as part of the cost function, allowing for more accurate planning. To evaluate the performance of our proposed framework, we compare it with the widely used RRT∗ and STOMP algorithms over a range of underwater environments. Our experimental results demonstrate the stability and time efficiency of our framework.
AB - Wepresent a novel motion planning framework for unmanned underwater vehicles (UUVs) - the first framework that applies Gaussian process motion planning to solve a 3D path planning problem for a 6-DoF robot in underwater environments. We address missions requiring UUVs to remain in close proximity to seafloor terrain, which must be achieved alongside collision avoidance. Our framework also considers the influence of current flows as part of the cost function, allowing for more accurate planning. To evaluate the performance of our proposed framework, we compare it with the widely used RRT∗ and STOMP algorithms over a range of underwater environments. Our experimental results demonstrate the stability and time efficiency of our framework.
KW - Marine robotics
KW - constrained motion planning
KW - motion and path planning
UR - http://www.scopus.com/inward/record.url?scp=85182374566&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85182374566&partnerID=8YFLogxK
U2 - 10.1109/LRA.2024.3349924
DO - 10.1109/LRA.2024.3349924
M3 - Article
AN - SCOPUS:85182374566
VL - 9
SP - 1780
EP - 1787
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -