Naslov
Heuristic Parameter Tuning Procedures for a Virtual Potential Based AUV Trajectory Planner

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 8th IFAC International Conference on Manoeuvring and Control of Marine Craft / Crissol Donha, Decio - Guarujá, 2009, 328-333

Skup
The 8th IFAC International Conference on Manoeuvring and Control of Marine Craft

Mjesto i datum
Guarujá, Brazil, 16.09.2009. - 18.09.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Unmanned systems; Intelligent control systems; Decentralised control

Sažetak
This paper deals with the study and analysis of heuristics and tradeoffs incipient in the choice of method-independent parameters in an algebraic trajectory planner based on virtual potentials. The real-time trajectory planning framework for autonomous underwater vehicles (AUVs) is described in detail in Barisic et al. (2007), Barisic et al. (2008) and based on the referenced, as well as previous work of the authors. Of special interest among the parameters are those governing the strength of repulsion of obstacles (Barisic et al. (2007), and that of the strength of the rotary field (Barisic et al. (2008), Healey (2006)) that is introduced in order to eliminate obstacle-attached local minima present in classical virtual potential based methods (Healey (2006)).

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

Napomena
Rad je prihvaćen u postupku međunarodne recenzije i u postupku objave u zborniku radova navedene konferencije. Konferencija se u trenutku upisivanja rada u bazu još nije održala.

POVEZANOST RADA