Sensor-based motion planning for autonomous vehicle teams
Authors
Kragelund, Sean
Walton, Claire
Kaminer, Isaac
Subjects
Advisors
Date of Issue
2016
Date
Publisher
Language
Abstract
This paper employs a computational optimal control framework to develop a mission planning tool for a team of heterogeneous unmanned vehicles conducting a nominal mine countermeasures (MCM) mission. We first describe our motivation for developing vehicle-specific sensor models for unmanned surface and underwater vehicles working collaboratively to detect mines. Next, we describe the sonar detection models used to evaluate the performance of a long-range, forward-looking detection sonar and a high-resolution sidescan sonar deployed from these unmanned vehicles. Results from multiple computer simulations which highlight the flexibility and utility of this solution framework are presented.
Type
Article
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Naval Postgraduate School (U.S.)
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NPS Report Number
Sponsors
Consortium for Robotics and Unmanned Systems Education and Research (CRUSER)
Funder
Format
8 p.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.