A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting
Oyster aquaculture in the U.S. faces severe inefficiencies due to the absence of precise path planning tools, resulting in environmental degradation and resource waste. Current dredging techniques lack trajectory planning, often leading to redundant seabed disturbance and suboptimal shell distributi...
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MDPI AG
2025-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/15/4650 |
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| author | Weiyu Chen Chiao-Yi Wang Kaustubh Joshi Alan Williams Anjana Hevaganinge Xiaomin Lin Sandip Sharan Senthil Kumar Allen Pattillo Miao Yu Nikhil Chopra Matthew W. Gray Yang Tao |
| author_facet | Weiyu Chen Chiao-Yi Wang Kaustubh Joshi Alan Williams Anjana Hevaganinge Xiaomin Lin Sandip Sharan Senthil Kumar Allen Pattillo Miao Yu Nikhil Chopra Matthew W. Gray Yang Tao |
| author_sort | Weiyu Chen |
| collection | DOAJ |
| description | Oyster aquaculture in the U.S. faces severe inefficiencies due to the absence of precise path planning tools, resulting in environmental degradation and resource waste. Current dredging techniques lack trajectory planning, often leading to redundant seabed disturbance and suboptimal shell distribution. Existing vessel models—such as the Nomoto or Dubins models—are not designed to map steering inputs directly to spatial coordinates, presenting a research gap in maneuver planning for underactuated boats. This research fills that gap by introducing a novel hybrid vessel kinetics model that integrates the Nomoto model with Dubins motion primitives. Our approach links steering inputs directly to the vessel motion, enabling Cartesian coordinate path generation without relying on intermediate variables like yaw velocity. Field trials in the Chesapeake Bay demonstrate consistent trajectory following performance across varied path complexities, with average offsets of 0.01 m, 1.35 m, and 0.42 m. This work represents a scalable, efficient step toward real-time, constraint-aware automation in oyster harvesting, with broader implications for sustainable aquaculture operations. |
| format | Article |
| id | doaj-art-fb63e5f06dbe4bb29bb7b3c4dbd0914b |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-fb63e5f06dbe4bb29bb7b3c4dbd0914b2025-08-20T03:36:30ZengMDPI AGSensors1424-82202025-07-012515465010.3390/s25154650A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster HarvestingWeiyu Chen0Chiao-Yi Wang1Kaustubh Joshi2Alan Williams3Anjana Hevaganinge4Xiaomin Lin5Sandip Sharan Senthil Kumar6Allen Pattillo7Miao Yu8Nikhil Chopra9Matthew W. Gray10Yang Tao11Fischell Department of Bioengineering, University of Maryland, College Park, MD 20742, USAFischell Department of Bioengineering, University of Maryland, College Park, MD 20742, USADepartment of Mechanical Engineering, University of Maryland, College Park, MD 20742, USAHorn Point Laboratory, University of Maryland Center for Environmental Science, Cambridge, MD 21613, USAFischell Department of Bioengineering, University of Maryland, College Park, MD 20742, USADepartment of Electrical Engineering, University of South Florida, Tampa, FL 33620, USAMaryland Applied Graduate Engineering, University of Maryland, College Park, MD 20742, USAUniversity of Maryland Extension, College of Agriculture and Natural Resources, University of Maryland, College Park, MD 20742, USADepartment of Mechanical Engineering, University of Maryland, College Park, MD 20742, USADepartment of Mechanical Engineering, University of Maryland, College Park, MD 20742, USAHorn Point Laboratory, University of Maryland Center for Environmental Science, Cambridge, MD 21613, USAFischell Department of Bioengineering, University of Maryland, College Park, MD 20742, USAOyster aquaculture in the U.S. faces severe inefficiencies due to the absence of precise path planning tools, resulting in environmental degradation and resource waste. Current dredging techniques lack trajectory planning, often leading to redundant seabed disturbance and suboptimal shell distribution. Existing vessel models—such as the Nomoto or Dubins models—are not designed to map steering inputs directly to spatial coordinates, presenting a research gap in maneuver planning for underactuated boats. This research fills that gap by introducing a novel hybrid vessel kinetics model that integrates the Nomoto model with Dubins motion primitives. Our approach links steering inputs directly to the vessel motion, enabling Cartesian coordinate path generation without relying on intermediate variables like yaw velocity. Field trials in the Chesapeake Bay demonstrate consistent trajectory following performance across varied path complexities, with average offsets of 0.01 m, 1.35 m, and 0.42 m. This work represents a scalable, efficient step toward real-time, constraint-aware automation in oyster harvesting, with broader implications for sustainable aquaculture operations.https://www.mdpi.com/1424-8220/25/15/4650boat maneuveringprecision aquaculturekinodynamic modelmotion primitivestrajectory following |
| spellingShingle | Weiyu Chen Chiao-Yi Wang Kaustubh Joshi Alan Williams Anjana Hevaganinge Xiaomin Lin Sandip Sharan Senthil Kumar Allen Pattillo Miao Yu Nikhil Chopra Matthew W. Gray Yang Tao A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting Sensors boat maneuvering precision aquaculture kinodynamic model motion primitives trajectory following |
| title | A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting |
| title_full | A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting |
| title_fullStr | A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting |
| title_full_unstemmed | A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting |
| title_short | A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting |
| title_sort | kinodynamic model for dubins based trajectory planning in precision oyster harvesting |
| topic | boat maneuvering precision aquaculture kinodynamic model motion primitives trajectory following |
| url | https://www.mdpi.com/1424-8220/25/15/4650 |
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