Streamlines for motion planning in underwater currents

To, KYC; Lee, KMB; Yoo, C; Anstee, S; Fitch, R

Streamlines for motion planning in underwater currents

To, KYC Lee, KMB Yoo, C

Anstee, S Fitch, R

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2019, 2019-May pp. 4619 - 4625
Issue Date:: 2019-05-01

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Field	Value	Language
dc.contributor.author	To, KYC	en_US
dc.contributor.author	Lee, KMB	en_US
dc.contributor.author	Yoo, C https://orcid.org/0000-0002-2773-0527	en_US
dc.contributor.author	Anstee, S	en_US
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.date.available	2021-08-12T19:01:03Z
dc.date.issued	2019-05-01	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2019, 2019-May pp. 4619 - 4625	en_US
dc.identifier.isbn	9781538660263	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/136478
dc.description.abstract	© 2019 IEEE. Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning over hundreds of kilometres in complicated flows. The idea is to search a reduced space of control inputs that consists of stream functions whose level sets, or streamlines, optimally connect two given points. Such stream functions are generated by superimposing a control input onto the underlying current flow. A streamline represents the resulting path that a vehicle would follow as it is carried along by the current given that control input. We provide rigorous analysis that shows how our method avoids exhaustive search of the control space, and demonstrate simulated examples in complicated flows including a traversal along the east coast of Australia, using actual current predictions, between Sydney and Brisbane.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2019.8793567	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Streamlines for motion planning in underwater currents	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2019-May	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2019-May	en_US

Abstract:

© 2019 IEEE. Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning over hundreds of kilometres in complicated flows. The idea is to search a reduced space of control inputs that consists of stream functions whose level sets, or streamlines, optimally connect two given points. Such stream functions are generated by superimposing a control input onto the underlying current flow. A streamline represents the resulting path that a vehicle would follow as it is carried along by the current given that control input. We provide rigorous analysis that shows how our method avoids exhaustive search of the control space, and demonstrate simulated examples in complicated flows including a traversal along the east coast of Australia, using actual current predictions, between Sydney and Brisbane.

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http://hdl.handle.net/10453/136478