Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters
Rodrigue de Schaetzen,Alexander Botros,Robert Gash,Kevin Murrant,Stephen L. Smith,Rodrigue de Schaetzen,Alexander Botros,Robert Gash,Kevin Murrant,Stephen L. Smith
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and ...
