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Pregled bibliografske jedinice broj: 484778

Zbornik radova

Autori: Barišić, Matko; Mišković, Nikola; Vukić, Zoran; Vasilijević, Antonio
Naslov: Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces
Izvornik: Procedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard (ur.). - Rostock-Warnemunde : International Federation of Automatic Control , 2010. 22-27 (ISBN: 978-3-902661-88-3).
Skup: 8th IFAC Conference on Control Applications in Marine Systems
Mjesto i datum: Rostock-Warnemunde, Njemačka, 15-17.09.2010.
Ključne riječi: Navigation ; guidance and control of unmanned marine vessels (surface and underwater) ; Autonomous and remotely operated (surface and underwater) marine vessels ; Surveillance and supervision systems in marine applications
Sažetak:
This paper describes a procedure that utilizes a series of off-line algorithms for pre- planning a two-dimensional path for an AUV in a cluttered waterspace. The trajectory is planned as a clothoidal spline or interpolation based on the work of Shin and Singh (1990) between a sequence of objective points. The former are calculated by a method proposed by the authors, based on the traversal of vertices of apriori known obstacles modeled on a concise set of geometrical primitives. The objective points are first sequenced and then extraneous ones are pruned. Finally, the technique of Shin and Singh (1990) and numerical approximation of clothoid parameters is applied to calculating the final path through the obstacle-strewn waterspace.
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,Temeljne tehničke znanosti
Puni text rada: 484778.0020.pdf (tekst priložen 4. Lis. 2010. u 11:14 sati)
URL Internet adrese: http://www.ifac-papersonline.net/Detailed/44869.html
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 4. Lis. 2010. u 11:14 sati



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