Naslov
A Kinematic Virtual Potentials Trajectory Planner For AUV-s

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 6th IFAC Symposium on Intelligent Autonomous Vehicles / Devy, Michel - Toulouse : LAAS CNRS, 2007

Skup
6th IFAC Symposium on Intelligent Autonomous Vehicles

Mjesto i datum
Toulouse, Francuska, 03.09.2007. - 05.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous mobile robots; Trajectory planning; Gradients; Robot

Sažetak
This paper deals with trajectory planning for an autonomous, noncommunicating submerged vehicle (AUV). Most maneuvering, esp. that related to obstacle avoidance, in a typical mission scenario for an AUV consists of motion at single submerged depth. Therefore a trajectory planning scheme operating in 2D has sufficient merit and applicability. A scheme for trajectory planning with cross-layer features, such as implicit inclusion of obstacle-avoidance and forming up with other moving agents, is developed in a simulated environment, at a kinematic level. The trajectory planner is based on virtual potentials, an approach that guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA