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AUV Formations Achieved By Virtual Potentials Trajectory Planning In A Simulated Environment (CROSBI ID 529978)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola ; Tovornik, Boris AUV Formations Achieved By Virtual Potentials Trajectory Planning In A Simulated Environment // Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems / Vukić, Zoran ; Longhi, Sauro (ur.). Zagreb: Centar za podvodne sustave i tehnologije, 2007. str. (on CD)-x

Podaci o odgovornosti

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

engleski

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

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.

Autonomous mobile robots; Trajectory planning; Gradients; Robot

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Podaci o prilogu

(on CD)-x.

2007.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems

Vukić, Zoran ; Longhi, Sauro

Zagreb: Centar za podvodne sustave i tehnologije

Podaci o skupu

7th IFAC Conference on Control Applications in Marine Systems

predavanje

19.09.2007-21.09.2007

Bol, Hrvatska

Povezanost rada

Elektrotehnika