A Hybrid-State Path Planner for ASV Formations with Full-Scale Experiments
Else-Line M. Ruud,Marius S. Rundhovde,Jarle Sandrib,Glenn Bitar,Else-Line M. Ruud,Marius S. Rundhovde,Jarle Sandrib,Glenn Bitar
We present a hybrid-state path planner for autonomous surface vehicles (ASVs) constrained by a min-imum turning radius. The work is motivated by the future Norwegian naval mine countermeasures (NMCM) concept, which includes mine sweeping operations with ASVs that operate alone or in a formation of two, with and without mine sweeping equipment attached. Our path-planning approach is a variant of hy...
