Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and distance travelled by the vessel. We exploit a lattice-based planner with a cost that captures the ship interaction with ice. To address the dynamic nature of the environment, we plan motion in a receding horizon manner based on updated vessel and ice state information. Further, we present a novel planning heuristic for evaluating the cost-to-go, which is applicable to navigation in a channel without a fixed goal location. The performance of our planner is evaluated across several levels of ice concentration both in simulated and in real-world experiments.
翻译:冰封水域的船舶过境在安全和高效运动规划方面提出了独特的挑战。当冰层高度集中时,可能无法找到无碰撞轨迹。相反,如果冰块小或接触发生在冰冰边缘附近,冰可以被推开。在这项工作中,我们提议了一个实时导航框架,以尽量减少与冰的碰撞和船只行驶的距离。我们开发一个基于固定平台的平板机,其成本可以捕捉船舶与冰的相互作用。为了应对环境的动态性质,我们计划根据最新的船舶和冰状况信息,以淡化的地平线方式进行运动。此外,我们提出一个新的计划,即要评价成本对地对地,这适用于在没有固定目标位置的通道上航行。我们的规划员的表现在模拟和现实世界实验中都从若干冰的浓度角度进行评估。</s>