Sensor-based motion planning for autonomous vehicle teams
dc.contributor.author | Kragelund, Sean | |
dc.contributor.author | Walton, Claire | |
dc.contributor.author | Kaminer, Issac | |
dc.date.accessioned | 2017-02-28T15:30:08Z | |
dc.date.available | 2017-02-28T15:30:08Z | |
dc.date.issued | 2016 | |
dc.identifier.uri | https://hdl.handle.net/10945/51941 | |
dc.description.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. | en_US |
dc.description.sponsorship | Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) | en_US |
dc.format.extent | 8 p. | en_US |
dc.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. | en_US |
dc.title | Sensor-based motion planning for autonomous vehicle teams | en_US |
dc.type | Article | en_US |
dc.contributor.corporate | Naval Postgraduate School (U.S.) | en_US |
dc.contributor.department | Mechanical and Aerospace Engineering (MAE) | en_US |