Harmonic Potential Field Method for Autonomous Ship Navigation

Shi, Chaojian; Zhang, Mingming; Peng, Jing

doi:10.1109/itst.2007.4295916

Cited by 19 publications

(12 citation statements)

References 12 publications

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“…Applying these finite difference approximations to equation (1) will result in systems of algebraic equations that can be stated as (5) where A and b are known and u is unknown. For simplicity, let matrix A be decomposed into (6) where D is a block diagonal matrix, L is a lower triangular matrix and U is an upper triangular matrix.…”

Section: Point Iterative Methodsmentioning

confidence: 99%

“…Moreover, they offer a complete path planning algorithm, and paths derived from them are generally smooth. In the past, an exact method based on the HPFs were applied in many area of researches including ship navigation [5], trajectory control [6], space robot path planning [7], navigation of snake-like robot [8], UAV motion planning [9], marine vessel path planning [10], 3D motion planning for UAV [11,12], space exploration [13], etc. In robot navigation problem, the HPFs were successfully applied in various types of environments [14][15][16][17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

2017

CAFES-17, ICFCT-2017, SDMCAE-17 April 18-19, 2017 Kyoto (Japan)

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Section: Point Iterative Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

2017

CAFES-17, ICFCT-2017, SDMCAE-17 April 18-19, 2017 Kyoto (Japan)

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“…An attractive field is assigned to the target, whilst negative fields represent obstacles and so the vessel is repelled at these locations. In general, the trajectory can be generated effectively in real time and planning and control are merged into one function, however, a disadvantage is the risk of being trapped in local minima [57]. velocity space methods, for which, we define three sub-categories: velocity obstacles [58], dynamic window [45] and curvature velocity.…”

Section: Path Planning Algorithmsmentioning

confidence: 99%

Path planning and collision avoidance for autonomous surface vehicles I: a review

et al. 2021

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Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised the interest in developing methods for path planning that can reduce the risk of collisions, groundings, and stranding accidents at sea, as well as costs and time expenditure. In this paper, we review guidance, and more specifically, path planning algorithms of autonomous surface vehicles and their classification. In particular, we highlight vessel autonomy, regulatory framework, guidance, navigation and control components, advances in the industry, and previous reviews in the field. In addition, we analyse the terminology used in the literature and attempt to clarify ambiguities in commonly used terms related to path planning. Finally, we summarise and discuss our findings and highlight the potential need for new regulations for autonomous surface vehicles.

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“…The navigation through narrow areas is a problem with an eminently practical component that is shared by most autonomous vehicles, including autonomous cars [17], mobile robots [18,19] or ships [20][21][22]. The challenge of this particular type of navigation lies in the little room available for maneuvering, leading, in many cases, to situations where the safety of the autonomous vehicle or the elements in the environment cannot be granted [23].…”

Section: Related Workmentioning

confidence: 99%

Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces

Moreno

Monroy

Ruiz-Sarmiento

et al. 2019

Sensors

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In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough clearance to navigate, hence limiting its operational space. An approach to facing this is to insert waypoints strategically placed within the problematic areas in the map, which are considered by the robot planner when generating a trajectory and help to successfully traverse them. This is typically carried out by a human operator either by relying on their experience or by trial-and-error. In this paper, we present an automatic procedure to perform this task that: (i) detects problematic areas in the map and (ii) generates a set of auxiliary navigation waypoints from which more suitable trajectories can be generated by the robot planner. Our proposal, fully compatible with the robotic operating system (ROS), has been successfully applied to robots deployed in different houses within the H2020 MoveCare project. Moreover, we have performed extensive simulations with four state-of-the-art robots operating within real maps. The results reveal significant improvements in the number of successful navigations for the evaluated scenarios, demonstrating its efficacy in realistic situations.

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Harmonic Potential Field Method for Autonomous Ship Navigation

Cited by 19 publications

References 12 publications

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

Path planning and collision avoidance for autonomous surface vehicles I: a review

Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces

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