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Decentralized Control Functions In Trajectory Guidance Of A Non-Holonomic AUV


Barišić, Matko; Vukić, Zoran; Mišković, Nikola
Decentralized Control Functions In Trajectory Guidance Of A Non-Holonomic AUV // Proceedings of the 18th Mediterranean Conference on Control and Automation, 2010 / Benzaouia, A., El Hajjajii, A. and Sauter, D. (ur.).
Marrakesh, Morocco: Cadi Ayyad University, Marrakech, Morroco, 2010. str. 1194-1199 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Decentralized Control Functions In Trajectory Guidance Of A Non-Holonomic AUV

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

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

Izvornik
Proceedings of the 18th Mediterranean Conference on Control and Automation, 2010 / Benzaouia, A., El Hajjajii, A. and Sauter, D. - Marrakesh, Morocco : Cadi Ayyad University, Marrakech, Morroco, 2010, 1194-1199

ISBN
978-1-4244-8091-3

Skup
18th Mediterranean Conference on Control and Automation, 2010

Mjesto i datum
Marakeš, Maroko, 23-25.6.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous mobile robots; trajectory planning; gradients; robot kinematics; robot navigation

Sažetak
This paper describes a modification of authors’ previous work on virtual potential methods for planning and guidance of autonomous underwater vehicles (AUVs) along trajectories in R2 and R3. The modification replaces the algebraic sampling procedure of scalar potentials, performed in the previous algorithm in order to allow for the numerical approximation of the true local gradient of the potential, with the direct analytical solution for the local gradient. The modification also allows for a far more flexible integration of rotors, allowing fine-tuning by revealing analytical relationships between the stator and rotor components of calculated acceleration vectors. The modification is critical to the control of holonomically constrained AUVs with finite dynamics and significant lags in response to rudder and change of propeller rpms.

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