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Open AccessArticle

A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study

1
Facultad de Ingeniería, Universidad Nacional de Asunción, 2160 San Lorenzo, Paraguay
2
Universidad de Sevilla, 41004 Sevilla, Espana
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(5), 1488; https://doi.org/10.3390/s20051488
Received: 23 January 2020 / Revised: 5 March 2020 / Accepted: 7 March 2020 / Published: 9 March 2020
(This article belongs to the Section Remote Sensors)
Local path planning is important in the development of autonomous vehicles since it allows a vehicle to adapt their movements to dynamic environments, for instance, when obstacles are detected. This work presents an evaluation of the performance of different local path planning techniques for an Autonomous Surface Vehicle, using a custom-made simulator based on the open-source Robotarium framework. The conducted simulations allow to verify, compare and visualize the solutions of the different techniques. The selected techniques for evaluation include A*, Potential Fields (PF), Rapidly-Exploring Random Trees* (RRT*) and variations of the Fast Marching Method (FMM), along with a proposed new method called Updating the Fast Marching Square method (uFMS). The evaluation proposed in this work includes ways to summarize time and safety measures for local path planning techniques. The results in a Lake environment present the advantages and disadvantages of using each technique. The proposed uFMS and A* have been shown to achieve interesting performance in terms of processing time, distance travelled and security levels. Furthermore, the proposed uFMS algorithm is capable of generating smoother routes. View Full-Text
Keywords: autonomous surface vehicle; local path planning; monitoring applications; motion planning; Ypacarai lake autonomous surface vehicle; local path planning; monitoring applications; motion planning; Ypacarai lake
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Peralta, F.; Arzamendia, M.; Gregor, D.; Reina, D.G.; Toral, S. A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study. Sensors 2020, 20, 1488.

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