Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
Jitske de Vries,Elia Trevisan,Jules van der Toorn,Tuhin Das,Bruno Brito,Javier Alonso-Mora,Jitske de Vries,Elia Trevisan,Jules van der Toorn,Tuhin Das,Bruno Brito,Javier Alonso-Mora
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans sati...
