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Path planning for autonomous mini-ship


Path planning for autonomous mini-ship

Fedorenko R.V., Gurenko B.V.

Incoming article date: 25.09.2015

The paper deals with the trajectory planning of the mini-ship in an environment with obstacles. The structure of the control system hardware, software architecture built on basis of ROS software environment are presented. Global planner is designed using Voronoi diagrams method. Local planner (regulator) proposed to be implemented using the unstable regimes of control to bypass obstacles near the mini-ship. The results of simulation showed the efficiency of the proposed approaches.

Keywords: mini-ship, management, planning, Voronoi diagram, ROS