Experiments in Real-time Path Planning for Riverine Environments

This work focuses on the development and implementation of an autonomous path planning and obstacle avoidance algorithm for an autonomous surface vehicle (ASV) in a riverine environment. The algorithm effectively handles trap situations, which occur when the river bends away from the destination. In addition, the algorithm uses real-time sensor feedback to avoid obstacles. A general global route is proposed based on an a priori shoreline map. Then, local paths are calculated considering both the a priori data and measurements received from an obstacle sensor. These paths roughly follow the global path. The algorithm was tested on an ASV equipped with basic navigational sensors and an omnidirectional camera for obstacle detection, and experimentation verified its effectiveness.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2008

Author dc:creator

• Reed, Caleb M.

Chairs dc:contributor.committeechair

• Stilwell, Daniel J.
• Kurdila, Andrew J.

Committee member dc:contributor.committeemember

• Wyatt, Christopher L.

• autonomous surface vessel
• path planning
• obstacle avoidance
• A*
• occupancy map

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-04242008-105132

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/31877