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Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces


Barišić, Matko; Mišković, Nikola; Vukić, Zoran; Vasilijević, Antonio
Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces // Procedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard (ur.).
Rostock-Warnemunde: International Federation of Automatic Control, 2010. str. 22-27 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces

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

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

Izvornik
Procedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard - Rostock-Warnemunde : International Federation of Automatic Control, 2010, 22-27

ISBN
978-3-902661-88-3

Skup
8th IFAC Conference on Control Applications in Marine Systems

Mjesto i datum
Rostock-Warnemunde, Njemačka, 15-17.09.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


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

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb