Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar

Patrick A. Plonski; Joshua Vander Hook; Cheng Peng; Narges Noori; Volkan Isler

doi:10.1109/SSRR.2015.7443014

Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar

Patrick A. Plonski, Joshua Vander Hook, Cheng Peng, Narges Noori, Volkan Isler

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

A robotic boat is moving between two points when it encounters an obstacle of unknown size. The boat must find a short path around the obstacle to resume its original course. How should the boat move when it can only sense the proximity of the obstacle, and does not have prior information about the obstacle's size? We study this problem for a robotic boat with a forward-facing sonar. We study two versions of the problem. First, we solve a simplified case when the obstacle is a rectangle of known orientation but unknown dimensions. Second, we study a more general case where an arbitrarily shaped obstacle is contained between two known parallel lines. We study the performance of the algorithms analytically using competitive analysis and present results from field experiments. The experimental setup is relevant for harbor patrol or autonomous navigation in shallow water.

Original language	English (US)
Title of host publication	SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509019595
DOIs	https://doi.org/10.1109/SSRR.2015.7443014
State	Published - Mar 29 2016
Event	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015 - West Lafayette, United States Duration: Oct 18 2015 → Oct 20 2015

Publication series

Name	SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics

Other

Other	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015
Country/Territory	United States
City	West Lafayette
Period	10/18/15 → 10/20/15

Bibliographical note

Funding Information:
This work was supported by a MnDRIVE RSAM grant and National Science Foundation Awards #1111638 and #0917676.

Publisher Copyright:
© 2015 IEEE.

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10.1109/SSRR.2015.7443014

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Plonski, P. A., Vander Hook, J., Peng, C., Noori, N., & Isler, V. (2016). Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar. In SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics Article 7443014 (SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2015.7443014

Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar. / Plonski, Patrick A.; Vander Hook, Joshua; Peng, Cheng et al.
SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics. Institute of Electrical and Electronics Engineers Inc., 2016. 7443014 (SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Plonski, PA, Vander Hook, J, Peng, C, Noori, N & Isler, V 2016, Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar. in SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics., 7443014, SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, Institute of Electrical and Electronics Engineers Inc., IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015, West Lafayette, United States, 10/18/15. https://doi.org/10.1109/SSRR.2015.7443014

Plonski PA, Vander Hook J, Peng C, Noori N, Isler V. Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar. In SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics. Institute of Electrical and Electronics Engineers Inc. 2016. 7443014. (SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics). doi: 10.1109/SSRR.2015.7443014

Plonski, Patrick A. ; Vander Hook, Joshua ; Peng, Cheng et al. / Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar. SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics. Institute of Electrical and Electronics Engineers Inc., 2016. (SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics).

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Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar

Abstract

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