A practical approach to considering uncertainties in the creation of autonomous behaviors in unmanned surface vehicles

Zi Jing Bay; Chor Wei Yew; Kwok Wai Yue; Yip Fatt Lee; Ai Peng New; Hao Yi Gan

doi:10.1117/12.2048816

3 June 2014 A practical approach to considering uncertainties in the creation of autonomous behaviors in unmanned surface vehicles

Zi Jing Bay, Chor Wei Yew, Kwok Wai Yue, Yip Fatt Lee, Ai Peng New, Hao Yi Gan

Author Affiliations +

Proceedings Volume 9084, Unmanned Systems Technology XVI; 90840Y (2014) https://doi.org/10.1117/12.2048816
Event: SPIE Defense + Security, 2014, Baltimore, MD, United States

Abstract

Unmanned Surface Vehicles (USVs) have been proposed for use in several mission-critical operations in recent years. Although many autonomous behaviors have been developed by the research community, USV systems are greatly limited in functionality due to imperfect perception information and uncertainties in platform control. This paper presents a practical approach in considering these issues during the creation of autonomous behaviors. The approach allows autonomous behaviors to consider imperfect perception information and uncertainties in control during planning, and has been demonstrated successfully on a 9 meter USV.

Citation Download Citation

Zi Jing Bay, Chor Wei Yew, Kwok Wai Yue, Yip Fatt Lee, Ai Peng New, and Hao Yi Gan "A practical approach to considering uncertainties in the creation of autonomous behaviors in unmanned surface vehicles", Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840Y (3 June 2014); https://doi.org/10.1117/12.2048816

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