Autonomous River Navigation Using the Hamilton–Jacobi Framework for Underactuated Vehicles

Abstract

The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton-Jacobi-Bellman-Isaacs (HJBI) equations. The method is then validated experimentally.