| DOI | Resolve DOI: https://doi.org/10.1109/ICRA48891.2023.10161044 |
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| Author | Search for: De Schaetzen, Rodrigue; Search for: Botros, Alexander; Search for: Gash, Robert1; Search for: Murrant, Kevin1; Search for: Smith, Stephen L. |
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| Affiliation | - National Research Council of Canada. Ocean, Coastal and River Engineering
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| Funder | Search for: Natural Sciences and Engineering Research Council of Canada; Search for: National Research Council Canada |
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| Format | Text, Article |
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| Conference | 2023 IEEE International Conference on Robotics and Automation (ICRA), May 29 - June 2, 2023, London, United Kingdom |
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| Subject | costs; navigation; dynamics; predictive models; ice; real-time systems; planning |
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| Abstract | Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and distance travelled by the vessel. We exploit a lattice-based planner with a cost that captures the ship interaction with ice. To address the dynamic nature of the environment, we plan motion in a receding horizon manner based on updated vessel and ice state information. Further, we present a novel planning heuristic for evaluating the cost-to-go, which is applicable to navigation in a channel without a fixed goal location. The performance of our planner is evaluated across several levels of ice concentration both in simulated and in real-world experiments. |
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| Publication date | 2023-05-29 |
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| Publisher | IEEE |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 0388c5f0-5b19-400d-887a-6dd761422501 |
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| Record created | 2024-06-24 |
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| Record modified | 2024-06-24 |
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