Kinematic Simulative Analysis of Virtual Potential Field Method for AUV Trajectory Planning (CROSBI ID 529975)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola
engleski
Kinematic Simulative Analysis of Virtual Potential Field Method for AUV Trajectory Planning
This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the loop system.
cooperative navigation and control; survey; AUV
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Podaci o prilogu
1-6.
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 15th Mediterranean Conference on Control and Automation
Valavanis, Kimon ; Kovačić, Zdenko
Atena:
978-1-4244-1282-2
Podaci o skupu
15th Mediterranean Conference on Control and Automation
predavanje
27.06.2007-29.06.2007
Atena, Grčka