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Pregled bibliografske jedinice broj: 151380

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Autori: Bakarić, Vedran; Vukić, Zoran; Antonić, Radovan
Naslov: Improved line-of-sight Guidance for Cruising Underwater Vehicles
Izvornik: Control Applications in Marine Systems 2004 : A Proceedings Volume from the IFAC Conference / Katebi, Reza ; Longhi, Sauro (ur.). - Amsterdam : Elsevier Science , 2004. 447-452 (ISBN: 978-0-08044-169-6).
Skup: IFAC Conference on Control Applications in Marine Systems
Mjesto i datum: Ancona, Italija, 07-09.07.2004.
Ključne riječi: Autonomous vehicles; guidance systems; cruise control; algorithms
Sažetak:
Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line-of-sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationaly the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in diving plane.
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
Napomene:
IPV - IFAC Proceedings Volume



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