USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles

Abstract

Safe and efficient following of a time varying motion goal by an autonomous unmanned surface vehicle (USV) in a sea

Study of Performance of Bio- Inspired Strategies Applied to Pursuit Evasion Game Under Feedback Laws

“…In column (2,4,5) of Tables 4-6 CP outperforms followed by CM and CB in terms of shorter . Similarly, in terms of shorter column (1,4) in Tables 4-6 shows that CB outperforms followed by CM and CP. For column (2,3) in Tables 4-6, CB outperforms followed by CP and CM in terms of and .…”

“…Comparison of the different strategies, under feedback laws, shows that in the column (1,3,6) in Tables 4-6 CM outperforms followed by CP and CB. In column (2,4,5) of Tables 4-6 CP outperforms followed by CM and CB in terms of shorter .…”

“…Table. 4 Time to reach | | = 0 and = −1 for different combination of ( 1 ), ( 2 ), ( 3 ) for different initial values of and for CM. Comparing the performance of CM, CB and CP under feedback laws, the initial condition column (1,3,5,6) in Tables 1-3, show that the CM outperforms followed by CP and CB in terms of shorter . In column 2 in Tables 1-3 the CP outperforms followed by CM and CB in terms of shorter , and in column 4 in Tables 1-3 Tables 1-3, CB outperforms followed by CP and CB in terms of shorter .…”

“…In the context of engineering, PEG finds application in missile guidance and avoidance, aircraft pursuit and evasion, maritime asset protection etc. [1].…”

Model-predictive target defense by team of unmanned surface vehicles operating in uncertain environments

“…Finally, the developed approach should be usable in a range of scenarios. The problem's complexity merits solutions at multiple levels, including high-level task planning approaches, trajectory planning for collision-free guidance [2], [3], [4], machine learning for automated synthesis of behaviors for intruder interception [5], and generation of state transition models using GPU-accelerated simulation [4]. This paper focuses on high-level task planning and behavior optimization for a team of USVs to guard a valuable asset.…”