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IEEE robotics and automation letters, v.3 no.3, 2018년, pp.2024 - 2031
Chiang, Hao-Tien Lewis (Department of Computer Science, University of New Mexico, Albuquerque, NM, USA) , Tapia, Lydia (Department of Computer Science, University of New Mexico, Albuquerque, NM, USA)
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Motion planning for autonomous surface vehicles (ASVs) is challenging since surface vessels are nonlinear underactuated kinodynamic systems with often large inertia. Thus, ASV planners must identify long-term trajectories in order to avoid guiding the ASV into inevitable collision states. Furthermor...
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