A Balance-Artificial Potential Field Method for Autonomous Surface Vessel Navigation in Unstructured Riverine Environment

Mei Jian Hong; M. R. Arshad

doi:10.1016/j.procs.2015.12.341

A Balance-Artificial Potential Field Method for Autonomous Surface Vessel Navigation in Unstructured Riverine Environment

Mei Jian Hong^*, M. R. Arshad

^*Corresponding author for this work

Universiti Sains Malaysia

Research output: Contribution to journal › Conference article › peer-review

10 Citations (Scopus)

Abstract

Obstacles avoidance of Autonomous Surface Vessel (ASV) in riverine environment is challenging since the motion space is constrained by the unstructured riverbanks, especially for the track keeping cruise task. This paper proposes a balance-Artificial Potential Field (APF) hybrid method to realize the ASV track-keeping and obstacles avoidance. The balance scheme is to keep the ASV cruise in the center of river while the Artificial Potential Field method is to avoid obstacles. The simulation results show that this approach is efficient for ASV navigation and successfully avoid obstacles in challenging situations, such as narrow passage and S-shape avoidance.

Original language	English
Pages (from-to)	198-202
Number of pages	5
Journal	Procedia Computer Science
Volume	76
DOIs	https://doi.org/10.1016/j.procs.2015.12.341
Publication status	Published - 2015
Externally published	Yes
Event	IEEE International Symposium on Robotics and Intelligent Sensors, IEEE IRIS 2015 - Langkawi, Malaysia Duration: 18 Oct 2015 → 20 Oct 2015

Keywords

Artificial Potential Field
Autonomous Surface Vessel
obstacles avoidance
track-keeping

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10.1016/j.procs.2015.12.341

Cite this

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title = "A Balance-Artificial Potential Field Method for Autonomous Surface Vessel Navigation in Unstructured Riverine Environment",

abstract = "Obstacles avoidance of Autonomous Surface Vessel (ASV) in riverine environment is challenging since the motion space is constrained by the unstructured riverbanks, especially for the track keeping cruise task. This paper proposes a balance-Artificial Potential Field (APF) hybrid method to realize the ASV track-keeping and obstacles avoidance. The balance scheme is to keep the ASV cruise in the center of river while the Artificial Potential Field method is to avoid obstacles. The simulation results show that this approach is efficient for ASV navigation and successfully avoid obstacles in challenging situations, such as narrow passage and S-shape avoidance.",

keywords = "Artificial Potential Field, Autonomous Surface Vessel, obstacles avoidance, track-keeping",

author = "Hong, {Mei Jian} and Arshad, {M. R.}",

note = "Publisher Copyright: {\textcopyright} 2015 The Authors.; IEEE International Symposium on Robotics and Intelligent Sensors, IEEE IRIS 2015 ; Conference date: 18-10-2015 Through 20-10-2015",

year = "2015",

doi = "10.1016/j.procs.2015.12.341",

language = "English",

volume = "76",

pages = "198--202",

journal = "Procedia Computer Science",

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TY - JOUR

T1 - A Balance-Artificial Potential Field Method for Autonomous Surface Vessel Navigation in Unstructured Riverine Environment

AU - Hong, Mei Jian

AU - Arshad, M. R.

PY - 2015

Y1 - 2015

N2 - Obstacles avoidance of Autonomous Surface Vessel (ASV) in riverine environment is challenging since the motion space is constrained by the unstructured riverbanks, especially for the track keeping cruise task. This paper proposes a balance-Artificial Potential Field (APF) hybrid method to realize the ASV track-keeping and obstacles avoidance. The balance scheme is to keep the ASV cruise in the center of river while the Artificial Potential Field method is to avoid obstacles. The simulation results show that this approach is efficient for ASV navigation and successfully avoid obstacles in challenging situations, such as narrow passage and S-shape avoidance.

AB - Obstacles avoidance of Autonomous Surface Vessel (ASV) in riverine environment is challenging since the motion space is constrained by the unstructured riverbanks, especially for the track keeping cruise task. This paper proposes a balance-Artificial Potential Field (APF) hybrid method to realize the ASV track-keeping and obstacles avoidance. The balance scheme is to keep the ASV cruise in the center of river while the Artificial Potential Field method is to avoid obstacles. The simulation results show that this approach is efficient for ASV navigation and successfully avoid obstacles in challenging situations, such as narrow passage and S-shape avoidance.

KW - Artificial Potential Field

KW - Autonomous Surface Vessel

KW - obstacles avoidance

KW - track-keeping

UR - http://www.scopus.com/inward/record.url?scp=84962859578&partnerID=8YFLogxK

U2 - 10.1016/j.procs.2015.12.341

DO - 10.1016/j.procs.2015.12.341

M3 - Conference article

AN - SCOPUS:84962859578

SN - 1877-0509

VL - 76

SP - 198

EP - 202

JO - Procedia Computer Science

JF - Procedia Computer Science

T2 - IEEE International Symposium on Robotics and Intelligent Sensors, IEEE IRIS 2015

Y2 - 18 October 2015 through 20 October 2015

ER -

A Balance-Artificial Potential Field Method for Autonomous Surface Vessel Navigation in Unstructured Riverine Environment

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Keywords

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