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

Xin Jin, Asok Ray

Research output: Contribution to journalArticle

14 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 vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up 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 harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking.

Original languageEnglish (US)
Pages (from-to)787-801
Number of pages15
JournalInternational Journal of Control
Volume87
Issue number4
DOIs
Publication statusPublished - Apr 3 2014

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

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