Trajectory generation with communication-induced constraints for surface vehicles
Yoann Hervagault, Ionela Prodan, Laurent Lefèvre · 2017
This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered. Via a flat description of the dynamics, these limitations are introduced and modeled into a constrained optimization problem whose goal is to provide a feasible reference trajectory. A combination between differential flatness and communication constraints will provide the necessary tools for designing a feasible trajectory for the autonomous vehicle. Finally, simulations results validate this approach and prove that its extension for multiple vehicles is worthwhile.