Coverage control of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

Xin Jin, Asok Ray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision-making and online replanning of paths. The proposed algorithm provides a complete coverage of the search area for cleanup of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity Player/Stage simulator for oil spill cleaning in a harbor, where the underlying oil weathering process is modeled as 2D random-walk particle tracking.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages2594-2599
Number of pages6
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Coverage control of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments'. Together they form a unique fingerprint.

Cite this