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Pregled bibliografske jedinice broj: 595253

Zbornik radova

Autori: Aleksi, Ivan; Dieter, Kraus; Hocenski, Željko
Naslov: Trajectory Planning Based on 3D CAD models for Autonomous Underwater Vehicle Inspection
( Trajectory Planning Based on 3D CAD models for Autonomous Underwater Vehicle Inspection )
Izvornik: AUTOMATION IN TRANSPORTATION 2011Zagreb, Croatia :
Skup: 32nd Conference on Transportation Systems with International Participation AUTOMATION IN TRANSPORTATION 2012
Mjesto i datum: Zagreb, Croatia ; Wien, Austria, 14.-18.11.2012.
Ključne riječi: Trajectory Planning; Autonomous Underwater Vehicle; 3D CAD models; Underwater Inspection Mission; SONAR
( Trajectory Planning; Autonomous Underwater Vehicle; 3D CAD models; Underwater Inspection Mission; SONAR )
Sažetak:
This paper deals with a novel 6D trajectory planning approach for Autonomous Underwater Vehicle (AUV) that is performing Underwater Inspection Mission (UIM). AUV has attached SONAR system and is used for underwater 3D object surface reconstruction. Flat 3D CAD surface models and complex 3D CAD ship’s hull models are used for trajectory planning around them. Two geometry-based trajectory-planning approaches are considered in this paper, both having perpendicular look toward a surface of interest. Straight lines are planned along flat models, while plane-model intersection approach is used for planning around 3D ship’s hull models. UIM is usually done in dirty harbor waters where SONAR systems are more suited than camera systems due to better visibility in water. However, proposed trajectory planning method can be used for other types of sensors (camera, laser, radar) and different kind of environments and vehicles (helicopters, mobile robots).
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 165-0361621-2000, 165-0362980-2002
Izvorni jezik: eng
Kategorija: Znanstveni
Znanstvena područja:
Računarstvo
Upisao u CROSBI: ialeksi@etfos.hr (ialeksi@etfos.hr), 27. Ruj. 2012. u 13:12 sati
Napomene:
IN PRESS



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