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Introduction of Rotors to a Virtual Potentials UUV Trajectory (CROSBI ID 535585)

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

Barišić, Matko ; Vukić, Zoran ; Omerdić, Edin Introduction of Rotors to a Virtual Potentials UUV Trajectory // Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles / Toal, Daniel ; Roberts, Geoff (ur.). Limerick: University of Limerick, 2008

Podaci o odgovornosti

Barišić, Matko ; Vukić, Zoran ; Omerdić, Edin

engleski

Introduction of Rotors to a Virtual Potentials UUV Trajectory

A distributed method for online trajectory planning for coordinated UUVs, developed in authors’ previous work is revisited. Its design is streamlined with a view towards easy, methodical and robust application in code. A programmatic module for computing command signals necessary and fitting for use with lower-level tracking controllers for te UUV’ s drives, on the basis of simple numerical formulae for integral and derivative approximations is added. Rotors, a vectorized quantity contributing to local minima avoidance, are introduced. This scheme is compared with the existing strategy for local minima avoidance employed previously within the presented framework. Simulation results are given.

autonomous mobile robots; gradients; gradient methods; trajectory planning; obstacle

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Podaci o prilogu

2008.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the Workshop on Navigation, Guidance and Control of Underwater Vehicles

Toal, Daniel ; Roberts, Geoff

Limerick: University of Limerick

Podaci o skupu

Workshop on Navigation, Guidance and Control of Underwater Vehicles

predavanje

08.04.2008-10.04.2008

Killaloe, Irska

Povezanost rada

Elektrotehnika