engleski

The Virtual Potential Field Method As A Tool For Formation Guidance of AUV-s

This paper deals with the modifications of a kinematics-based trajectory planner for an AUV, assuring cruising in formation. Analysis is performed by means of MATLAB simulation. The method presented in authors’ previous work [1, 2, 3] is redesigned, with an algorithm assigning virtual waypoints / virtual leaders for an AUV to follow in order to cruise in formation with other AUVs added.

Autonomous mobile robots; Trajectory planning; Gradients; Obstacle avoidance; Co-ordination

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