Naslov
Introduction of Rotors to a Virtual Potentials UUV Trajectory

Autori
Barišić, Matko ; Vukić, Zoran ; Omerdić, Edin

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

Izvornik
Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles / Toal, Daniel ; Roberts, Geoff - Limerick : University of Limerick, 2008

Skup
Workshop on Navigation, Guidance and Control of Underwater Vehicles

Mjesto i datum
Killaloe, Irska, 08.04.2008. - 10.04.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
autonomous mobile robots; gradients; gradient methods; trajectory planning; obstacle

Sažetak
A distributed method for online trajectory planning for coordinated UUVs, developed in authors’ previous work is revisited. Its design is streamlined with a view towards easy, methodical and robust application in code. A programmatic module for computing command signals necessary and fitting for use with lower-level tracking controllers for te UUV’ s drives, on the basis of simple numerical formulae for integral and derivative approximations is added. Rotors, a vectorized quantity contributing to local minima avoidance, are introduced. This scheme is compared with the existing strategy for local minima avoidance employed previously within the presented framework. Simulation results are given.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA