A Kinematic Virtual Potentials Trajectory Planner For AUV-s (CROSBI ID 529976)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola
engleski
A Kinematic Virtual Potentials Trajectory Planner For AUV-s
This paper deals with trajectory planning for an autonomous, noncommunicating submerged vehicle (AUV). Most maneuvering, esp. that related to obstacle avoidance, in a typical mission scenario for an AUV consists of motion at single submerged depth. Therefore a trajectory planning scheme operating in 2D has sufficient merit and applicability. A scheme for trajectory planning with cross-layer features, such as implicit inclusion of obstacle-avoidance and forming up with other moving agents, is developed in a simulated environment, at a kinematic level. The trajectory planner is based on virtual potentials, an approach that guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.
Autonomous mobile robots; Trajectory planning; Gradients; Robot
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Podaci o prilogu
(on CD)-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles
Devy, Michel
Toulouse: LAAS CNRS
Podaci o skupu
6th IFAC Symposium on Intelligent Autonomous Vehicles
predavanje
03.09.2007-05.09.2007
Toulouse, Francuska