AUV Formations Achieved By Virtual Potentials Trajectory Planning In A Simulated Environment (CROSBI ID 529978)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola ; Tovornik, Boris
engleski
AUV Formations Achieved By Virtual Potentials Trajectory Planning In A Simulated Environment
This paper explores the forming-up, robustness of the ensuing formation and coordinated movement of autonomous, non-communicating submerged vehicles (AUV) planning their trajectories using a virtual potential fields method. The behavior and characteristic merits and problems of the proposed scheme, which plans the trajectory on the basis of AUV kinematics is tested in 2D simulations. A brief commentary on further avenues of research and improvement in order to make the method applicable to hardware-in-the-loop usage is given.
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 7th IFAC Conference on Control Applications in Marine Systems
Vukić, Zoran ; Longhi, Sauro
Zagreb: Centar za podvodne sustave i tehnologije
Podaci o skupu
7th IFAC Conference on Control Applications in Marine Systems
predavanje
19.09.2007-21.09.2007
Bol, Hrvatska