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
    Publication statusPublished - Sep 11 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

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    All Science Journal Classification (ASJC) codes

    • Electrical and Electronic Engineering

    Cite this

    Jin, X., & Ray, A. (2013). Coverage control of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments. In 2013 American Control Conference, ACC 2013 (pp. 2594-2599). [6580225] (Proceedings of the American Control Conference).