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On the Experiment of Path Planning Using Multi-way Points with A* Algorithm for Autonomous Surface Vehicle
Corresponding Author(s) : Bayu Erfianto
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control,
Vol. 6, No. 2, May 2021
Abstract
Commonly, surveillance activities on lake waters is mostly carried out by using a surface vehicle as special-designed vehicle, especially to conduct water quality measurements, underwater surveys, and bathymetry mapping. However, conventional survey and monitoring still involves humans on the site. If a survey is conducted during strong wind conditions, it could jeopardize surveyor’s safety. Therefore, a vehicle must have several criteria, e.g., it must be pretty spacious and comfortable to carry surveyors, free from engine vibrations, stabilized and easy to maneuver, and the surveyor's safety can be guaranteed. This paper discusses preliminary research aiming to develop an Autonomous Raft Vehicle (ARV), a type of autonomous unmanned surface vehicle. The ARV is equipped with autonomous control based on multi-way-points with an A* algorithm. Thus, a user only requires giving a command once initially during path planning. A* algorithm over multi-way-point could improve ARV navigation when there are obstacles along the predetermined trajectory. Hence the predetermined trajectory will be maintained throughout the mission. It is a significant contribution to this paper.
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- G. Ferri, A. Manzi, F. Fornai, F. Ciuchi, and C. Laschi, “The hydronet asv, a small-sized autonomous catamaran for real-time monitoring of water quality: From design to missions at sea,” IEEE Journal of Oceanic Engineering, Vol. 40, No. 3, Pp. 710–726, 2014. https:// doi.org/10.1109/JOE.2014.2359361
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- Y. Liu, N. Noguchi, and T. Yusa, “Development of an unmanned surface vehicle platform for autonomous navigation in paddy field,” IFAC Proceedings, Vol. 47, No. 3, Pp. 11 553–11 558, 2014. https://doi.org/10.3182/20140824-6-ZA-1003.00616
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- I. Noreen, A. Khan, and Z. Habib, “A comparison of rrt, rrt* and rrt*-smart path planning algorithms,” International Journal of Computer Science and Network Security (IJCSNS), Vol. 16, No. 10, Pp. 20, 2016. http://dx.doi.org/10.5772/56718
- K. Sinha, “Path planning for a uav in an agricultural environment to tour and cover multiple neighborhoods,” MSc. Thesis, Virginia Tech, 2017.
- H.Pan, C.Guo, and Z. Wang, “Research for path planning based on improved A* algorithm,” in 4th IEEE International Conference on Information, Cybernetics and Computational Social Systems (ICCSS), pp. 225–230, 2017.
- A.J. Dalpe and M.-W. Thein, “Obstacle avoidance strategies for autonomous surface vehicles,” in IEEE OCEANS-Anchorage, pp. 1–8, 2017.
- A.J. Dalpe, A.E.Cook, M.-W.Thein, and M.Renken, “A multi-layered approach to autonomous surface vehicle map-based autonomy,” in IEEE OCEANS 2018 Charleston, Pp. 1–8, 2018. https://doi.org/10.1109/OCEANS.2018.8604602
- S. Park, J. Deyst, and J. How, “A new nonlinear guidance logic for trajectory tracking,” in AIAA Guidance, Navigation, and Control Conference and Exhibit, p. 4900. 2004. http://dx.doi.org/10.2514/6.2004-4900
References
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S. Siyang and T. Kerdcharoen, “Development of unmanned surface vehicle for smart water quality inspector,” in 13th International conference on electrical engineering/electronics, computer, telecommunications and information technology (ECTI-CON), Pp. 1–5, 2016. https://doi.org/10.1109/ECTICon.2016.7561370
Z. Liu, Y. Zhang, X. Yu, and C. Yuan, “Unmanned surface vehicles: An overview of developments and challenges,” Annual Reviews in Control, Vol. 41, Pp. 71–93, 2016. https://doi.org/10.1016/j.arcontrol.2016.04.018
H. C. Brown, L. K. Jenkins, G. A. Meadows, and R. A. Shuchman, “Bathyboat: An autonomous surface vessel for stand-alone survey and underwater vehicle network supervision,” Marine Technology Society Journal, Vol. 44, No. 4, Pp. 20–29, 2010. https://doi.org/10.4031/MTSJ.44.4.5
Y. Liu, N. Noguchi, and T. Yusa, “Development of an unmanned surface vehicle platform for autonomous navigation in paddy field,” IFAC Proceedings, Vol. 47, No. 3, Pp. 11 553–11 558, 2014. https://doi.org/10.3182/20140824-6-ZA-1003.00616
M.W. L. Thein and M. Renken, “Comparative study of heading and speed control techniques for small autonomous surface vehicles,” in IEEE OCEANS 2018, Pp. 1–10, 2018. https://doi.org/10.1109/OCEANS.2018.8604777
G. Podnar, J. M. Dolan, K. H. Low, and A. Elfes, ”Telesupervised remote surface water quality sensing,” in IEEE Aerospace Conference, Pp. 1–9, 2010. https://doi.org/10.1109/AERO.2010.5446668
M. Lin, K. Yuan, C. Shi, and Y. Wang, “Path planning of mobile robot based on improved A* algorithm,” in 29th IEEE Chinese Control And Decision Conference (IEEE CCDC), Pp. 3570–3576, 2017. https://doi.org/10.1109/CCDC.2017.7979125
Y. Kaizu, M. Iio, H. Yamada, and N. Noguchi. “Development of unmanned airboat for water-quality mapping,” Biosystems Engineering, Vol. 109, No. 4, Pp. 338–347, 2011. https://doi.org/10.1016/j.biosystemseng.2011.04.013
H. M. Ferreira, C. Almeida, A. Martins, J. M. Almeida, A. Dias, G. Silva, and E. Silva, “Environmental modeling with precision navigation using roaz autonomous surface vehicle,” in IEEE International Conference on Intelligent Robots and Systems, Pp. 1–6, 2012. http://dx.doi.org/10.13140/RG.2.1.1213.0325
Volker Bertram, “Unmanned surface vehicles-a survey”, Skibsteknisk Selskab Copenhagen Denmark, Vol. 1, pp. 1–14, 2008. https://doi.org/10.1.1.462.1894
Mohamad Hilmi Bin Mat Idris, Muhammad Al Azhari Bin Che Kamarudin, Muhammad Irsyad Sahalan, Zulkifli Bin Zainal Abidin, and M.M. Rashid, “Design and development of an autonomous surface vessel for inland water depth monitoring,” in International Conference on Computer and Communication Engineering (ICCCE), Pp. 177–182, 2016. https://doi.org/10.1109/ICCCE.2016.47
D. Machado, A. Martins, J. M. Almeida, H. Ferreira, G. Amaral, B. Ferreira, A. Matos, and E. Silva, “Water jet based autonomous surface vehicle for coastal waters operations,” in IEEE 2014 Oceans-St. John’s, Pp. 1–8. http://dx.doi.org/10.1109/OCEANS.2014.7003169
P. Ramos, N. Cruz, A. Matos, M. V. Neves, and F. L. Pereira, “Monitoring an ocean outfall using an AUV,” in IEEE OCEAN Conference and Exhibition, Vol. 3, Pp. 2009–2014, 2001. http://dx.doi.org/10.1109/OCEANS.2001.968154
M. A. Z. Fuad, A. B. Sambah, A. Isdianto, and A. Andira, “Pemetaan batimetri sebagai informasi dasar untuk penempatan fish apartment di perairan Bangsring Kabupaten Banyuwangi Jawa Timur,” DEPIK Jurnal Ilmu-Ilmu Perairan, Pesisir dan Perikanan, vol. 5, no. 3, 2016. https://doi.org/10.13170/depik.5.3.5655
R. Arulmozhiyal and K. Baskaran, “Implementation of a Fuzzy PI Controller for Speed Control of Induction Motors Using FPGA,” Journal of Power Electronics, Vol. 10, Pp. 65-71, 2010. http://dx.doi.org/10.6113/JPE.2010.10.1.065
Bandini, D. Olesen, J. Jakobsen, C. M. M. Kittel, S. Wang, M. Garcia, and P. Bauer-Gottwein, “Bathymetry observations of inland water bodies using a tethered single-beam sonar controlled by an unmanned aerial vehicle,” Hydrology and Earth System, Vol. 22, No 6, Pp. 4165-4181, 2017. http://dx.doi.org/10.5194/hess-2017-625
M. Dunbabin and L. Marques, “Robots for environmental monitoring: Significant advancements and applications,” IEEE Robotics & Automation Magazine, Vol. 19, No. 1, pp. 24–39, 2012. https://doi.org/10.1109/MRA.2011.2181683
G. Hitz, F. Pomerleau, M.-E. Garneau, C. Pradalier, T. Posch, J. Pernthaler, and R. Y. Siegwart, “Autonomous inland water monitoring: Design and application of a surface vessel,” IEEE Robotics & Automation Magazine, Vol. 19, No. 1, Pp. 62–72, 2012. http://dx.doi.org/10.1109/MRA.2011.2181771
Denny, T. O’Brien, E. Bergeron, D. Twichell, C. Worley, W. Danforth, B. Andrews, and B. Irwin, “Advances in shallow-water, high-resolution seafloor mapping: Integrating an autonomous surface vessel (asv) into nearshore geophysical studies,” in AGU Fall Meeting Abstracts, 2006.
A. Tuncer and M. Yildirim, “Dynamic path planning of mobile robots with improved genetic algorithm,” Computers & Electrical Engineering,” Vol. 38, No. 6, Pp. 1564–1572, 2012. https://doi.org/10.1016/j.compeleceng.2012.06.016
M. J. J. Suja, S. R. Sulistiyanti, and M. Komarudin, “Sistem navigasi pada unmanned surface vehicle untuk pemantauan daerah perairan. Electrician”, Vol. 11, No. 1, Pp. 32–43, 2017. https://doi.org/10.23960/elc.v11n1.2013
M. Bibuli, G. Bruzzone, M. Caccia, E. Fumagalli, E. Saggini, E. Zereik, E. Buttaro, C. Caporale, and R. Ivaldi, “Unmanned surface vehicles for automatic bathymetry mapping and shores’ maintenance,” in IEEE OCEANS 2014-TAIPEI, Pp. 1–7, 2014. https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964440
I. Noreen, A. Khan, and Z. Habib, “A comparison of rrt, rrt* and rrt*-smart path planning algorithms,” International Journal of Computer Science and Network Security (IJCSNS), Vol. 16, No. 10, Pp. 20, 2016. http://dx.doi.org/10.5772/56718
K. Sinha, “Path planning for a uav in an agricultural environment to tour and cover multiple neighborhoods,” MSc. Thesis, Virginia Tech, 2017.
H.Pan, C.Guo, and Z. Wang, “Research for path planning based on improved A* algorithm,” in 4th IEEE International Conference on Information, Cybernetics and Computational Social Systems (ICCSS), pp. 225–230, 2017.
A.J. Dalpe and M.-W. Thein, “Obstacle avoidance strategies for autonomous surface vehicles,” in IEEE OCEANS-Anchorage, pp. 1–8, 2017.
A.J. Dalpe, A.E.Cook, M.-W.Thein, and M.Renken, “A multi-layered approach to autonomous surface vehicle map-based autonomy,” in IEEE OCEANS 2018 Charleston, Pp. 1–8, 2018. https://doi.org/10.1109/OCEANS.2018.8604602
S. Park, J. Deyst, and J. How, “A new nonlinear guidance logic for trajectory tracking,” in AIAA Guidance, Navigation, and Control Conference and Exhibit, p. 4900. 2004. http://dx.doi.org/10.2514/6.2004-4900