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Pregled bibliografske jedinice broj: 470651

Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method


Barišić, Matko; Vukić, Zoran; Mišković, Nikola
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method // Proc. of the 16th Mediterranean Conference on Control and Automation, MED'08
Ajaccio, Francuska, 2008. str. 1144-1149 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method

Autori
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of the 16th Mediterranean Conference on Control and Automation, MED'08 / - , 2008, 1144-1149

Skup
16th Mediterranean Conference on Control and Automation, MED'08

Mjesto i datum
Ajaccio, Francuska, 25-27.06.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Unmanned underwater vehicles; trajectory planning; virtual potentials method

Sažetak
A method for the trajectory planning of coordinated groups of UUVs, developed in authors’ previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development is compared with the strategy for local minima avoidance previously employed by the authors. Testing is done by simulation and comparison of simulated system responses.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb