Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method (CROSBI ID 563409)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Vukić, Zoran ; Mišković, Nikola
engleski
Effects of Rotors on UUV Trajectory Planning Via the Virtual Potentials Method
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.
unmanned underwater vehicles; trajectory planning; virtual potentials method
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Podaci o prilogu
1144-1149.
2008.
objavljeno
Podaci o matičnoj publikaciji
Proc. of the 16th Mediterranean Conference on Control and Automation, MED'08
Podaci o skupu
16th Mediterranean Conference on Control and Automation, MED'08
predavanje
25.06.2008-27.06.2008
Ajaccio, Francuska