Naslov
AUV Formations Achieved By Virtual Potentials Trajectory Planning In A Simulated Environment

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

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

Izvornik
Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems / Vukić, Zoran ; Longhi, Sauro - Zagreb : Centar za podvodne sustave i tehnologije, 2007

Skup
7th IFAC Conference on Control Applications in Marine Systems

Mjesto i datum
Bol, Hrvatska, 19.09.2007. - 21.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
This paper explores the forming-up, robustness of the ensuing formation and coordinated movement of autonomous, non-communicating submerged vehicles (AUV) planning their trajectories using a virtual potential fields method. The behavior and characteristic merits and problems of the proposed scheme, which plans the trajectory on the basis of AUV kinematics is tested in 2D simulations. A brief commentary on further avenues of research and improvement in order to make the method applicable to hardware-in-the-loop usage is given.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA