Naslov
Kinematic Simulative Analysis of Virtual Potential Field Method for AUV Trajectory Planning

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 15th Mediterranean Conference on Control and Automation / Valavanis, Kimon ; Kovačić, Zdenko - Atena, 2007, 1-6

ISBN
978-1-4244-1282-2

Skup
15th Mediterranean Conference on Control and Automation

Mjesto i datum
Atena, Grčka, 27.06.2007. - 29.06.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
cooperative navigation and control; survey; AUV

Sažetak
This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the loop system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA