Pregled bibliografske jedinice broj: 470651
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method // Proc. of the 16th Mediterranean Conference on Control and Automation, MED'08
Ajaccio, Francuska, 2008. str. 1144-1149 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 470651 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method
Autori
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proc. of the 16th Mediterranean Conference on Control and Automation, MED'08
/ - , 2008, 1144-1149
Skup
16th Mediterranean Conference on Control and Automation, MED'08
Mjesto i datum
Ajaccio, Francuska, 25.06.2008. - 27.06.2008
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
unmanned underwater vehicles; trajectory planning; virtual potentials method
Sažetak
A method for the trajectory planning of coordinated groups of UUVs, developed in authors’ previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development is compared with the strategy for local minima avoidance previously employed by the authors. Testing is done by simulation and comparison of simulated system responses.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Projekti:
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
