| Download | - View accepted manuscript: AUTO-IceNav: a local navigation strategy for autonomous surface ships in broken ice fields (PDF, 9.8 MiB)
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| DOI | Resolve DOI: https://doi.org/10.1109/TRO.2025.3613472 |
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| Author | Search for: de Schaetzen, Rodrigue; Search for: Botros, Alexander; Search for: Zhong, Ninghan; Search for: Murrant, Kevin1; Search for: Gash, Robert1; Search for: Smith, Stephen L. |
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| Affiliation | - National Research Council of Canada. Ocean, Coastal and River Engineering
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| Format | Text, Article |
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| Subject | ice; marine vehicles; navigation; planning; costs; sea ice; lattices; sea surface; arctic; trajectory |
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| Abstract | Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of collisions with ice are highly dependent on where contact occurs and on the particular features of the ice floes. In this paper, we present AUTO-IceNav, a framework for the autonomous navigation of ships operating in ice floe fields. Trajectories are computed in a receding-horizon manner, where we frequently replan given updated ice field data. During a planning step, we assume a nominal speed that is safe with respect to the current ice conditions, and compute a reference path. We formulate a novel cost function that minimizes the kinetic energy loss of the ship from ship-ice collisions and incorporate this cost as part of our lattice-based path planner. The solution computed by the lattice planning stage is then used as an initial guess in our proposed optimization-based improvement step, producing a locally optimal path. Extensive experiments were conducted both in simulation and in a physical testbed to validate our approach. |
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| Publication date | 2025-09-23 |
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| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
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| Licence | - © 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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| In | |
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| Language | English |
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| In press | Yes |
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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 | 5fd77f08-ead0-4fee-ae23-d08bc52f3dd4 |
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| Record created | 2025-10-06 |
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| Record modified | 2025-10-07 |
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