Stochastic Path Planning for Autonomous Underwater Gliders with Safety Constraints

Yoo, C; Anstee, S; Fitch, R

Stochastic Path Planning for Autonomous Underwater Gliders with Safety Constraints

Yoo, C Anstee, S Fitch, R

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 3725 - 3732
Issue Date:: 2019-11-01

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Field	Value	Language
dc.contributor.author	Yoo, C	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.issued	2019-11-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 3725 - 3732	en_US
dc.identifier.isbn	9781728140049	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/138923
dc.description.abstract	© 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.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS40897.2019.8968250	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Stochastic Path Planning for Autonomous Underwater Gliders with Safety Constraints	en_US
dc.type	Conference Proceeding
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/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2022-01-27T00:00:00+1100
pubs.publication-status	Published	en_US

Abstract:

© 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.

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http://hdl.handle.net/10453/138923