This video presents new time optimal motion planning method for multi unmanned surface vehicles in marine environments using Marine Probabilstic Velocity Obstacles (MPVO) concept.
This planner consider waves as dynamic obstacles, each agent moves without communication to other agents.
The MPVO calculates safe trajectory for single USV to the target avoiding moving obstacles, taking into account currents waves and non-holonomic constrains using local planning. Time optimal trajectories are calculated for multi USVs using MPVO satisfying HJB equation.
Oren Gal, Technion
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