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

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 Aut...

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Authors: Peralta, Federico, Arzamendia, Mario, Gregor, Derlis, Gutiérrez Reina, Daniel, Toral, S. L.
Format: article
Status:Published version
Publication Date:2020
Country:España
Institution:Universidad de Sevilla (US)
Repository:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/98342
Online Access:https://hdl.handle.net/11441/98342
https://doi.org/10.3390/s20051488
Access Level:Open access
Keyword:Autonomous surface vehicle
Local path planning
Monitoring applications
Motion planning
Ypacarai lake
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spelling A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-studyPeralta, FedericoArzamendia, MarioGregor, DerlisGutiérrez Reina, DanielToral, S. L.Autonomous surface vehicleLocal path planningMonitoring applicationsMotion planningYpacarai lakeLocal 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.Consejo Nacional de Ciencia de Tecnología (CONACYT) de Paraguay PINV15-177Ministerio de Ciencia, Innovación y Universidades RTI2018-098964-B-I00Junta de Andalucía US-1257508Junta de Andalucía PY18-RE0009Junta de Andalucía 2018/ACDE/000773MDPIIngeniería ElectrónicaConsejo Nacional de Ciencia y Tecnología (CONACYT). ParaguayUniversidad de SevillaMinisterio de Ciencia, Innovación y Universidades (MICINN). EspañaJunta de Andalucía2020info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/98342https://doi.org/10.3390/s20051488reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésSensors, 20 (5), Article number 1488.PINV15-177RTI2018-098964-B-I00US-1257508PY18-RE00092018/ACDE/000773https://doi.org/10.3390/s20051488info:eu-repo/semantics/openAccessoai:idus.us.es:11441/983422026-06-17T12:51:07Z
dc.title.none.fl_str_mv A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
title A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
spellingShingle A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
Peralta, Federico
Autonomous surface vehicle
Local path planning
Monitoring applications
Motion planning
Ypacarai lake
title_short A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
title_full A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
title_fullStr A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
title_full_unstemmed A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
title_sort A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study
dc.creator.none.fl_str_mv Peralta, Federico
Arzamendia, Mario
Gregor, Derlis
Gutiérrez Reina, Daniel
Toral, S. L.
author Peralta, Federico
author_facet Peralta, Federico
Arzamendia, Mario
Gregor, Derlis
Gutiérrez Reina, Daniel
Toral, S. L.
author_role author
author2 Arzamendia, Mario
Gregor, Derlis
Gutiérrez Reina, Daniel
Toral, S. L.
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería Electrónica
Consejo Nacional de Ciencia y Tecnología (CONACYT). Paraguay
Universidad de Sevilla
Ministerio de Ciencia, Innovación y Universidades (MICINN). España
Junta de Andalucía
dc.subject.none.fl_str_mv Autonomous surface vehicle
Local path planning
Monitoring applications
Motion planning
Ypacarai lake
topic Autonomous surface vehicle
Local path planning
Monitoring applications
Motion planning
Ypacarai lake
description 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.
publishDate 2020
dc.date.none.fl_str_mv 2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/98342
https://doi.org/10.3390/s20051488
url https://hdl.handle.net/11441/98342
https://doi.org/10.3390/s20051488
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Sensors, 20 (5), Article number 1488.
PINV15-177
RTI2018-098964-B-I00
US-1257508
PY18-RE0009
2018/ACDE/000773
https://doi.org/10.3390/s20051488
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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