Stochastic Path Planning for Autonomous Underwater Gliders with Safety Constraints

Publication Type:
Conference Proceeding
IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 3725 - 3732
Issue Date:
Filename Description Size
Fitch_IROS2019_StochasticPathPlanning_finalsubmitted.pdfAccepted Manuscript version3.14 MB
Adobe PDF
Full metadata record
© 2019 IEEE. Autonomous underwater gliders frequently execute extensive missions with high levels of uncertainty due to limitations of sensing, control and oceanic forecasting. Glider path planning seeks an optimal path with respect to conflicting objectives, such as travel cost and safety, that must be explicitly balanced subject to these uncertainties. In this paper, we derive a set of recursive equations for state probability and expected travel cost conditional on safety, and use them to implement a new stochastic variant of FMT-{ast } in the context of two types of objective functions that allow a glider to reach a destination region with minimum cost or maximum probability of arrival given a safety threshold. We demonstrate the framework using three simulated examples that illustrate how user-prescribed safety constraints affect the results.
Please use this identifier to cite or link to this item: