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Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces (CROSBI ID 566851)

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

Barišić, Matko ; Mišković, Nikola ; Vukić, Zoran ; Vasilijević, Antonio Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces // Procedings of the 8th IFAC Conference on Control Applications in Marine Systems / Lampe, Bernhard (ur.). Rostock: International Federation of Automatic Control, 2010. str. 22-27

Podaci o odgovornosti

Barišić, Matko ; Mišković, Nikola ; Vukić, Zoran ; Vasilijević, Antonio

engleski

Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces

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.

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

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Podaci o prilogu

22-27.

2010.

objavljeno

Podaci o matičnoj publikaciji

Procedings of the 8th IFAC Conference on Control Applications in Marine Systems

Lampe, Bernhard

Rostock: International Federation of Automatic Control

978-3-902661-88-3

Podaci o skupu

8th IFAC Conference on Control Applications in Marine Systems

predavanje

15.09.2010-17.09.2010

Rostok, Njemačka

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti