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Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight


Bakarić, Vedran; Vukić, Zoran; Antonić, Radovan
Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight // Proceedinfs of the ISCCSP 2004 : First International Symposium on Control, Communications, and Signal Processing / Gabbouy, Moncef (ur.).
Piscataway: IEEE, 2004. str. 541-544 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight

Autori
Bakarić, Vedran ; Vukić, Zoran ; Antonić, Radovan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedinfs of the ISCCSP 2004 : First International Symposium on Control, Communications, and Signal Processing / Gabbouy, Moncef - Piscataway : IEEE, 2004, 541-544

ISBN
978-0-78038-379-1

Skup
ISCCSP 2004 : First International Symposium on Control, Communications and Signal Processing

Mjesto i datum
Hammamet, Tunis, 21-24.03.2004

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Guidance through waypoints; underwater vehicle navigation; line of sight

Sažetak
Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to be used in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current estimation method to compensate its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036010

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb