Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat

Pedro Paiva; Luis Gomes

doi:10.1109/ONCON60463.2023.10430917

Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This work explores the different mechanisms involved in creating a behavioural system for route planning and collision avoidance, taking into account the constraints imposed by the navigational characteristics of the sailboat. The implementation of these mechanisms is accompanied by an introduction to fundamental concepts, including Artificial Potential Fields, Histograms of Vector Fields, Navigation in the No-Go Zone, Differentiation of the Nature of Obstacles resulting in Different Operations, and the Constitution of Different Areas of Actuation. Finally, multiple simulations are conducted in a virtual environment to verify the resilience of the proposed navigation strategy.

Original language	English
Title of host publication	ONCON 2023
Subtitle of host publication	2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Number of pages	6
ISBN (Electronic)	979-8-3503-5797-4
ISBN (Print)	979-8-3503-5798-1
DOIs	https://doi.org/10.1109/ONCON60463.2023.10430917
Publication status	Published - 2023
Event	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 - Virtual, Online, United States Duration: 8 Dec 2023 → 10 Dec 2023

Conference

Conference	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023
Country/Territory	United States
City	Virtual, Online
Period	8/12/23 → 10/12/23

Keywords

Artificial Potential Fields
Autonomous Navigation
Collision Prevention
Optimal Route Planning
Sailboats Navigation
Vector Field Histograms

Access to Document

10.1109/ONCON60463.2023.10430917

Cite this

@inproceedings{d02213aaeeb042e288cffe3516e952cb,

title = "Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat",

abstract = "This work explores the different mechanisms involved in creating a behavioural system for route planning and collision avoidance, taking into account the constraints imposed by the navigational characteristics of the sailboat. The implementation of these mechanisms is accompanied by an introduction to fundamental concepts, including Artificial Potential Fields, Histograms of Vector Fields, Navigation in the No-Go Zone, Differentiation of the Nature of Obstacles resulting in Different Operations, and the Constitution of Different Areas of Actuation. Finally, multiple simulations are conducted in a virtual environment to verify the resilience of the proposed navigation strategy.",

keywords = "Artificial Potential Fields, Autonomous Navigation, Collision Prevention, Optimal Route Planning, Sailboats Navigation, Vector Field Histograms",

author = "Pedro Paiva and Luis Gomes",

note = "info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00066%2F2020/PT# info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F00066%2F2020/PT# Publisher Copyright: {\textcopyright} 2023 IEEE.; 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 ; Conference date: 08-12-2023 Through 10-12-2023",

year = "2023",

doi = "10.1109/ONCON60463.2023.10430917",

language = "English",

isbn = "979-8-3503-5798-1",

booktitle = "ONCON 2023",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Paiva, P & Gomes, L 2023, Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat. in ONCON 2023: 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference. Institute of Electrical and Electronics Engineers (IEEE), 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023, Virtual, Online, United States, 8/12/23. https://doi.org/10.1109/ONCON60463.2023.10430917

TY - GEN

T1 - Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat

AU - Paiva, Pedro

AU - Gomes, Luis

PY - 2023

Y1 - 2023

N2 - This work explores the different mechanisms involved in creating a behavioural system for route planning and collision avoidance, taking into account the constraints imposed by the navigational characteristics of the sailboat. The implementation of these mechanisms is accompanied by an introduction to fundamental concepts, including Artificial Potential Fields, Histograms of Vector Fields, Navigation in the No-Go Zone, Differentiation of the Nature of Obstacles resulting in Different Operations, and the Constitution of Different Areas of Actuation. Finally, multiple simulations are conducted in a virtual environment to verify the resilience of the proposed navigation strategy.

AB - This work explores the different mechanisms involved in creating a behavioural system for route planning and collision avoidance, taking into account the constraints imposed by the navigational characteristics of the sailboat. The implementation of these mechanisms is accompanied by an introduction to fundamental concepts, including Artificial Potential Fields, Histograms of Vector Fields, Navigation in the No-Go Zone, Differentiation of the Nature of Obstacles resulting in Different Operations, and the Constitution of Different Areas of Actuation. Finally, multiple simulations are conducted in a virtual environment to verify the resilience of the proposed navigation strategy.

KW - Artificial Potential Fields

KW - Autonomous Navigation

KW - Collision Prevention

KW - Optimal Route Planning

KW - Sailboats Navigation

KW - Vector Field Histograms

UR - http://www.scopus.com/inward/record.url?scp=85186747335&partnerID=8YFLogxK

U2 - 10.1109/ONCON60463.2023.10430917

DO - 10.1109/ONCON60463.2023.10430917

M3 - Conference contribution

AN - SCOPUS:85186747335

SN - 979-8-3503-5798-1

BT - ONCON 2023

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023

Y2 - 8 December 2023 through 10 December 2023

ER -

Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat

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Keywords

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