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Pregled bibliografske jedinice broj: 530921

Poglavlje/Rad u knjizi

Autori: Barišić, Matko; Vukić, Zoran; Mišković, Nikola
Naslov: Formation Guidance of AUVs Using Decentralized Control Functions
Knjiga: Autonomous Underwater Vehicles
Urednik/ci: Cruz, Nuno
Izdavač: InTech - Open Access Publisher
Grad: Rijeka, Croatia
Godina: 2011
Raspon stranica:: 99-132
Ukupni broj stranica u knjizi:: 34
ISBN: 978-953-307-432-0
Ključne riječi: autonomous underwater vehicles, coordinated control, cooperative control, distributed control, virtual potentials, decentralized control functions, formation control, motion planning, cross-layer design
Sažetak:
This Chapter describes a system for coordinated and distributed control of formations of autonomous underwater vehicles that uses the paradigm of virtual potentials. Motion control is achieved by solving for angular and linear accelerations the kinematic unicycle model of the local gradient of the global virtual potential field comprised of a sum of influences of obstacles, formation members and global navigation goal or waypoint. Solutions represent the set- points for low-level controllers which it is possible to separately and non-uniformly design on a case-by-case basis for various AUVs that can all collaborate using this strategy. Simulation results for a precise non-linear and cross-coupled dynamic model of a heavy ocean-going vehicle controlled by sliding mode controllers of heading rate and forward speed are presented.
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
Puni text rada: 530921.Formation_Guidance_of_AUVs_Using_Decentralized_Control_Functions.pdf (tekst priložen 25. Lis. 2011. u 11:51 sati)
URL Internet adrese: http://www.intechopen.com/articles/show/title/formation-guidance-of-auvs-using-decentralized-control-functions
Upisao u CROSBI: mbarisic@fer.hr (mbarisic@fer.hr), 19. Lis. 2011. u 11:03 sati



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