crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 490993

Zbornik radova

Autori: Barišić, Matko; Vukić, Zoran; Mišković, Nikola
Naslov: Decentralized Control Functions In Trajectory Guidance Of A Non-Holonomic AUV
Izvornik: Proceedings of the 18th Mediterranean Conference on Control and Automation, 2010 / Benzaouia, A., El Hajjajii, A. and Sauter, D. (ur.). - Marrakesh, Morocco : Cadi Ayyad University, Marrakech, Morroco , 2010. 1194-1199 (ISBN: 978-1-4244-8091-3).
Skup: 18th Mediterranean Conference on Control and Automation, 2010
Mjesto i datum: Marakeš, Maroko, 23-25.6.2010
Ključne riječi: autonomous mobile robots; trajectory planning; gradients; robot kinematics; robot navigation
Sažetak:
This paper describes a modification of authors’ previous work on virtual potential methods for planning and guidance of autonomous underwater vehicles (AUVs) along trajectories in R2 and R3. The modification replaces the algebraic sampling procedure of scalar potentials, performed in the previous algorithm in order to allow for the numerical approximation of the true local gradient of the potential, with the direct analytical solution for the local gradient. The modification also allows for a far more flexible integration of rotors, allowing fine-tuning by revealing analytical relationships between the stator and rotor components of calculated acceleration vectors. The modification is critical to the control of holonomically constrained AUVs with finite dynamics and significant lags in response to rudder and change of propeller rpms.
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: 490993.med10.pdf (tekst priložen 12. Stu. 2010. u 13:13 sati)
URL Internet adrese: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5547629&newsearch=true&queryText=Decentralized%20Control%20Functions%20In%20Trajectory%20Guidance%20Of%20A%20Non-Holonomic%20AUV%20
Upisao u CROSBI: mbarisic@fer.hr (mbarisic@fer.hr), 12. Stu. 2010. u 13:09 sati



Verzija za printanje   za tiskati


upomoc
foot_4