A Raycast Approach to Collision Avoidance in Sailing Robots


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dc.contributor.author Sauze, Colin
dc.contributor.author Neal, Mark
dc.date.accessioned 2010-06-22T07:51:29Z
dc.date.available 2010-06-22T07:51:29Z
dc.date.issued 2010-06
dc.identifier.citation Sauze , C & Neal , M 2010 , ' A Raycast Approach to Collision Avoidance in Sailing Robots ' . en
dc.identifier.other PURE: 150032
dc.identifier.other dspace: 2160/4680
dc.identifier.uri http://hdl.handle.net/2160/4680
dc.description C. Sauze and M. Neal (2010), A Raycast Approach to Collision Avoidance in Sailing Robots, in proceedings of the 3rd International Robotic Sailing Conference, Kingston, Ontario, Canada, June 6th-10th 2010 en
dc.description.abstract This paper presents a simple mechanism for an autonomous sailing robot to detect when it is within close proximity to fixed obstacles and a reactive mechanism to avoid those obstacles. This is achieved by using a raster based map of the local area and raycasting from the boat's current position in order to determine the distance and heading to the nearest coastline. Once this is determined a new target heading which does not result in any immediate danger is computed. Simulations have shown that it is possible for a robot to sailing between a set of waypoints while avoiding obstacles placed between those waypoints. This method has been shown to be capable of selecting a sensible course and avoiding collisions in most cases, however when the robot becomes trapped in small inlets or between groups of tightly packed islands it can fail to find a suitable course. en
dc.language.iso eng
dc.title A Raycast Approach to Collision Avoidance in Sailing Robots en
dc.type Text en
dc.type.publicationtype Conference paper en
dc.contributor.institution Department of Computer Science en
dc.contributor.institution Intelligent Robotics Group en
dc.description.status Non peer reviewed en

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