Title page for ETD etd-04242008-105132


Type of Document Master's Thesis
Author Reed, Caleb M.
Author's Email Address cmreed@vt.edu
URN etd-04242008-105132
Title Experiments in Real-time Path Planning for Riverine Environments
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kurdila, Andrew J. Committee Co-Chair
Stilwell, Daniel J. Committee Co-Chair
Wyatt, Christopher L. Committee Member
Keywords
  • autonomous surface vessel
  • path planning
  • obstacle avoidance
  • A*
  • occupancy map
Date of Defense 2008-04-22
Availability unrestricted
Abstract
This work focuses on the development and implementation of an autonomous path planning and obstacle avoidance algorithm for an autonomous surface vehicle (ASV) in a riverine environment. The algorithm effectively handles trap situations, which occur when the river bends away from the destination. In addition, the algorithm uses real-time sensor feedback to avoid obstacles.

A general global route is proposed based on an a priori shoreline map. Then, local paths are calculated considering both the a priori data and measurements received from an obstacle sensor. These paths roughly follow the global path. The algorithm was tested on an ASV equipped with basic navigational sensors and an omnidirectional camera for obstacle detection, and experimentation verified its effectiveness.

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