Dynamic Path Following in Ice-covered Waters with an Autonomous Surface Ship Model

Murrant, Kevin; Gash, Robert; Mills, Jason

doi:10.23919/oceans44145.2021.9705694

Cited by 3 publications

(5 citation statements)

References 4 publications

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“…We ran a total of 8 trials across two different ice concentrations (medium and high). This series of tests proved to be the first successful attempts at fully autonomous navigation across the entire length of the ice basin in the NRC ice tank facility following partial successes in preliminary testing done in [4].…”

Section: Real World Resultsmentioning

confidence: 91%

“…Two baseline planning algorithms were considered which we refer to as straight and skeleton. The former is simply a planner that returns a constant straight path from the ship's current position to the goal G and the latter refers to the shortest open-water path routing approach described in [16] and [4]. Their approach constructs morphological skeletons based on the ice environment to generate paths.…”

Section: B Simulation Resultsmentioning

confidence: 99%

“…Environment and Physical Model: The NRC ice basin is 12 m × 76 m with ice thickness up to 200 mm. We used the same 1:45 scale platform supply vessel (PSV) model deployed in [4] shown in Figure 1.…”

Section: Details On Experimental Platformmentioning

confidence: 99%

“…Vision System: The facility contains 20 ceiling cameras sending ice information at a frequency of 1 Hz. The ASV configuration is computed at 50 Hz using the tracking system and an on-board inertial measurement unit (IMU) [4], [16]. Given the two update rates, we set ∆t = 1 in Algorithm 1.…”

Section: Details On Experimental Platformmentioning

confidence: 99%

“…These benefits are especially appealing to crews tasked with high-risk missions such as arctic navigation through ice-covered waters [2], [3]. This setting typically features a significantly higher concentration of obstacles than most autonomous navigation applications [4]. In addition, the obstacles are dynamic in nature, moving in response to actions taken by the ship and contributing to the overall complexity of the problem.…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Botros¹,

Gash²,

Murrant³

et al. 2023

Preprint

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Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and distance travelled by the vessel. We exploit a lattice-based planner with a cost that captures the ship interaction with ice. To address the dynamic nature of the environment, we plan motion in a receding horizon manner based on updated vessel and ice state information. Further, we present a novel planning heuristic for evaluating the cost-to-go, which is applicable to navigation in a channel without a fixed goal location. The performance of our planner is evaluated across several levels of ice concentration both in simulated and in real-world experiments.

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Section: Real World Resultsmentioning

confidence: 91%

Section: B Simulation Resultsmentioning

confidence: 99%

Section: Details On Experimental Platformmentioning

confidence: 99%

Section: Details On Experimental Platformmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Botros¹,

Gash²,

Murrant³

et al. 2023

Preprint

View full text Add to dashboard Cite

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Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Botros

Gash

Murrant

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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Small Unmanned Surface Vessels—A Review and Critical Analysis of Relations to Safety and Safety Assurance of Larger Autonomous Ships

Bolbot,

Sandru,

Saarniniemi

et al. 2023

JMSE

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Autonomous ships represent an emerging paradigm within the maritime sector, poised to bring multiple advantages. Although numerous prototypes have been developed, the deployment of large autonomous ships has predominantly remained confined to domestic waters or specialized military applications. The extensive adoption of autonomous ships is hampered by several challenges, primarily centered around safety. However, the direct assessment of autonomous technologies on large-scale vessels can be very costly. Small-scale autonomy testing may provide a cheaper option. This study reviews the current small autonomous ship models used by maritime researchers and industry practitioners. It aims to evaluate how these autonomous models currently augment and can augment safety assurances on larger autonomous ships. The review identifies relevant very small Unmanned Surface Vessels (USVs), the main research groups behind them and their applications. Then, the current use of USVs for safety and safety assurance is analyzed. Finally, the paper suggests innovative strategies and research directions for using USVs for the safety assurance of larger autonomous ships.

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Dynamic Path Following in Ice-covered Waters with an Autonomous Surface Ship Model

Cited by 3 publications

References 4 publications

Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Small Unmanned Surface Vessels—A Review and Critical Analysis of Relations to Safety and Safety Assurance of Larger Autonomous Ships

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