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Decentralized Control Functions In Trajectory Guidance Of A Non-Holonomic AUV (CROSBI ID 568500)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

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.). Marakeš: Cadi Ayyad University, Marrakech, Morroco, 2010. str. 1194-1199

Podaci o odgovornosti

Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola

engleski

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

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.

autonomous mobile robots; trajectory planning; gradients; robot kinematics; robot navigation

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Podaci o prilogu

1194-1199.

2010.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 18th Mediterranean Conference on Control and Automation, 2010

Benzaouia, A., El Hajjajii, A. and Sauter, D.

Marakeš: Cadi Ayyad University, Marrakech, Morroco

978-1-4244-8091-3

Podaci o skupu

18th Mediterranean Conference on Control and Automation, 2010

predavanje

23.06.2010-25.06.2010

Marrakesh, Maroko

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti