Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight (CROSBI ID 496738)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Bakarić, Vedran ; Vukić, Zoran ; Antonić, Radovan
engleski
Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight
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.
Guidance through waypoints; underwater vehicle navigation; line of sight
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Podaci o prilogu
541-544-x.
2004.
objavljeno
Podaci o matičnoj publikaciji
Proceedinfs of the ISCCSP 2004 : First International Symposium on Control, Communications, and Signal Processing
Gabbouy, Moncef
Piscataway (NJ): Institute of Electrical and Electronics Engineers (IEEE)
978-0-78038-379-1
Podaci o skupu
ISCCSP 2004 : First International Symposium on Control, Communications and Signal Processing
predavanje
21.03.2004-24.03.2004
Hammamet, Tunis