Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces (CROSBI ID 566851)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Mišković, Nikola ; Vukić, Zoran ; Vasilijević, Antonio
engleski
Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces
This paper describes a procedure that utilizes a series of off-line algorithms for pre- planning a two-dimensional path for an AUV in a cluttered waterspace. The trajectory is planned as a clothoidal spline or interpolation based on the work of Shin and Singh (1990) between a sequence of objective points. The former are calculated by a method proposed by the authors, based on the traversal of vertices of apriori known obstacles modeled on a concise set of geometrical primitives. The objective points are first sequenced and then extraneous ones are pruned. Finally, the technique of Shin and Singh (1990) and numerical approximation of clothoid parameters is applied to calculating the final path through the obstacle-strewn waterspace.
Navigation ; guidance and control of unmanned marine vessels (surface and underwater) ; Autonomous and remotely operated (surface and underwater) marine vessels ; Surveillance and supervision systems in marine applications
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Podaci o prilogu
22-27.
2010.
objavljeno
Podaci o matičnoj publikaciji
Procedings of the 8th IFAC Conference on Control Applications in Marine Systems
Lampe, Bernhard
Rostock: International Federation of Automatic Control
978-3-902661-88-3
Podaci o skupu
8th IFAC Conference on Control Applications in Marine Systems
predavanje
15.09.2010-17.09.2010
Rostok, Njemačka