Hrvatska znanstvena bibliografija (CROSBI)



Pregled bibliografske jedinice broj: 306904

Zbornik radova

Autori: Barišić, Matko; Vukić, Zoran; Mišković, Nikola
Naslov: A Kinematic Virtual Potentials Trajectory Planner For AUV-s
Izvornik: Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles / Devy, Michel (ur.). - Toulouse : LAAS CNRS , 2007. (on CD).
Skup: 6th IFAC Symposium on Intelligent Autonomous Vehicles
Mjesto i datum: Toulouse, Francuska, 03. - 05.09.2007.
Ključne riječi: Autonomous mobile robots; Trajectory planning; Gradients; Robot
Sažetak:
This paper deals with trajectory planning for an autonomous, noncommunicating submerged vehicle (AUV). Most maneuvering, esp. that related to obstacle avoidance, in a typical mission scenario for an AUV consists of motion at single submerged depth. Therefore a trajectory planning scheme operating in 2D has sufficient merit and applicability. A scheme for trajectory planning with cross-layer features, such as implicit inclusion of obstacle-avoidance and forming up with other moving agents, is developed in a simulated environment, at a kinematic level. The trajectory planner is based on virtual potentials, an approach that guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 306904.2007_2.pdf (tekst priložen 2. Lis. 2007. u 13:31 sati)
Upisao u CROSBI: Matko Barišić (Matko.Barisic@fer.hr), 2. Lis. 2007. u 13:31 sati