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Path Planning for Multiple Marine Vehicles

Path Planning for Multiple Marine Vehicles. Andreas J. Häusler¹, Reza Ghabcheloo², Isaac Kaminer³ António M. Pascoal¹, A. Pedro Aguiar¹ ¹Instituto Superior Técnico, Lisbon, Portugal ²Tampere University of Technology, Tampere, Finland ³Naval Postgraduate School, Monterey, USA. Introduction.

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Path Planning for Multiple Marine Vehicles

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  1. Path Planning for MultipleMarine Vehicles Andreas J. Häusler¹, Reza Ghabcheloo², Isaac Kaminer³ António M. Pascoal¹, A. Pedro Aguiar¹ ¹Instituto Superior Técnico, Lisbon, Portugal ²Tampere University of Technology, Tampere, Finland ³Naval Postgraduate School, Monterey, USA

  2. Introduction Mother Ship Current

  3. Häusler et al. - Path Planning for Multiple Marine Vehicles Introduction • Multiple vehicle missions require the vehicles to be in formation • An initial formation pattern must be established before the mission starts • Lack of hovering capabilities  vehicles cannot be deployed and brought to formation separately • Need to drive the vehicles to an initial formation pattern in a concerted manner.

  4. Go-To-Formation Maneouvre

  5. Häusler et al. - Path Planning for Multiple Marine Vehicles Go-To-Formation Maneouvre • Launch of multiple marine vehicles • Formation to be reached before mission starts • Simultaneous arrival time and equal speeds • Collision avoidance & deconfliction clearance

  6. Häusler et al. - Path Planning for Multiple Marine Vehicles Spatial Deconfliction Final positions (target formation) Vehicle 1 Vehicle 2 Initial positions

  7. Häusler et al. - Path Planning for Multiple Marine Vehicles Temporal Deconfliction Final positions (target formation) Intermediate positions Vehicle 1 Initial positions Vehicle 2

  8. Häusler et al. - Path Planning for Multiple Marine Vehicles Path Planning System Vehicle dynamical constraints Vehicle collision avoidance constraints External constraints (e.g., obstacles) Initial Positions Nominal Pathsand Speed Profiles Initial Velocities MULTIPLE VEHICLE PATH PLANNING SYSTEM Final Positions Final Velocities Cost criterion (e.g.weighted sum of energies, maneuvering time)

  9. Häusler et al. - Path Planning for Multiple Marine Vehicles Path Planning: an overview • Core methodology: based on the work on single vehicle path planning using direct methods (Yakimenko) • Extension to multiple air vehicle path planning with spatial deconfliction (Yakimenko, Kaminer, Pascoal) • Extension to multiple marine vehicle path planning with temporal deconfliction(Aguiar, Ghabcheloo, Häusler, Kaminer, Pascoal)

  10. Häusler et al. - Path Planning for Multiple Marine Vehicles Decoupling of Space and Time • Reduces number of opt. parameters  suitable for real-time implementation • Single vehicle path • Parameterized by • Polynomial for each coordinate • Degree determined by no. of boundary conditions • Original work by Yakimenko and Kaminer

  11. Häusler et al. - Path Planning for Multiple Marine Vehicles Decoupling of Space and Time • Optimization produces paths without time constraints, but with timing laws • Evolution of with time is • Temporal speed and acceleration

  12. Flexibility of Generated Paths • Path shape can be changed by varying • Simple choice Pathgeometryis “shaped” simplybyvarying Häusler et al. - Path Planning for Multiple Marine Vehicles

  13. Häusler et al. - Path Planning for Multiple Marine Vehicles Multiple Vehicle Path Generation • Cost (Energy consumption) • Constraints • Optimize using zero order methods • Spatial deconfliction: subject to

  14. Spatial Deconfliction in 2D Simulation Results Häusler et al. - Path Planning for Multiple Marine Vehicles

  15. Häusler et al. - Path Planning for Multiple Marine Vehicles Simulation Results Spatial Deconfliction in 3D

  16. Häusler et al. - Path Planning for Multiple Marine Vehicles Temporal Deconfliction • Deconflictionconstraint changes to • Simultaneous arrival at time • Time-coordinated path following using virtual time • Cooperation to adjust vehicle motions in reaction to deviations from original plan (Ghabcheloo)

  17. Häusler et al. - Path Planning for Multiple Marine Vehicles Temporal Deconfliction Common path parametrization variable

  18. Häusler et al. - Path Planning for Multiple Marine Vehicles Simulation Results Temporal Deconfliction in 2D

  19. Häusler et al. - Path Planning for Multiple Marine Vehicles Conclusions Use of direct optimization methods (Yakimenko) Efficient and fast techniques for path generation first used for UAVs (Kaminer et al.) Extension to temporal deconfliction allows for equal times of arrival Decoupling of space and time, resulting in great flexibility for time-coordinated path following

  20. Häusler et al. - Path Planning for Multiple Marine Vehicles Future Trends Incorporate effects of current fields Add obstacle avoidance Improve optimization techniques towards online re-planning Sea tests with multiple marine vehicles planned for the Fall of 2009

  21. Thank you for your attention! Delfim (IST/ISR) Seawolf (ATL) ASTERx (IFR) DelfimX(IST/ISR) DelfimX(IST/ISR) Arquipélago (IMAR) Infante (IST/ISR)

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