Author
Yuanchang Liu
Bio: Yuanchang Liu is an academic researcher from University College London. The author has contributed to research in topics: Motion planning & Computer science. The author has an hindex of 11, co-authored 37 publications receiving 592 citations.
Papers
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TL;DR: A novel computer based algorithm that solves the problem of USV formation path planning using the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method.
196 citations
TL;DR: A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route.
151 citations
TL;DR: In this article, a multi-layered fast marching (MFM) method was developed to generate practical trajectories for USVs when operating in a dynamic environment, which constructs a synthetic environment framework, which incorporates the information of planning space and surface currents.
115 citations
TL;DR: A detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning.
Abstract: The increasing deployment of multiple unmanned vehicles systems has generated large research interest in recent decades. This paper therefore provides a detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning. Differing from other related papers, this paper pays a special attention to the collision avoidance problem and specifically discusses and reviews those methods that adopt flexible formation shape to achieve collision avoidance for multi-vehicle systems. In the conclusions, some open research areas with suggested technologies have been proposed to facilitate the future research development.
107 citations
TL;DR: A new algorithm named the ‘angle-guidance fast marching square’ (AFMS) is presented, to make the generated path compliant with vehicle's dynamics and orientation restrictions, and a novel priority scheme based upon the distance to the closest point of approaching (DCPA) has been proposed and developed.
80 citations
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01 Jan 2015
TL;DR: This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework and learns what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages.
Abstract: Filtering and smoothing methods are used to produce an accurate estimate of the state of a time-varying system based on multiple observational inputs (data). Interest in these methods has exploded in recent years, with numerous applications emerging in fields such as navigation, aerospace engineering, telecommunications, and medicine. This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework. Readers learn what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages. They also discover how state-of-the-art Bayesian parameter estimation methods can be combined with state-of-the-art filtering and smoothing algorithms. The book’s practical and algorithmic approach assumes only modest mathematical prerequisites. Examples include MATLAB computations, and the numerous end-of-chapter exercises include computational assignments. MATLAB/GNU Octave source code is available for download at www.cambridge.org/sarkka, promoting hands-on work with the methods.
1,102 citations
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
709 citations
TL;DR: It is shown through a benchmark example that compared with the unmanned marine vehicle without control, the designed dynamic output feedback controllers can attenuate the oscillation amplitudes of the yAW velocity error and the yaw angle much smaller than a proportional–integral controller.
235 citations
TL;DR: This paper offers a comprehensive overview of collision prevention techniques based on the three basic processes of determining evasive solutions, namely, motion prediction, conflict detection, and conflict resolution.
223 citations