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Pregled bibliografske jedinice broj: 149174

Zbornik radova

Autori: Bakarić, Vedran; Vukić, Zoran; Antonić, Radovan
Naslov: Improved basic planar algorithm of vehicle guidance through waypoint by the line of sight
Izvornik: Proceedinfs of the ISCCSP 2004 : First International Symposium on Control, Communications, and Signal Processing / Gabbouy, Moncef (ur.). - Piscataway : IEEE , 2004. 541-544 (ISBN: 978-0-78038-379-1).
Skup: ISCCSP 2004 : First International Symposium on Control, Communications and Signal Processing
Mjesto i datum: Hammamet, Tunis, 21-24.03.2004.
Ključne riječi: Guidance through waypoints; underwater vehicle navigation; line of sight
Sažetak:
Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to be used in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current estimation method to compensate its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 0036010
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika



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