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 Trajectory Planning for Autonomous Underwater Vehicles. A Fast Marching based method for global trajectory planning
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Trajectory Planning for Autonomous Underwater Vehicles. A Fast Marching based method for global trajectory planning

автор Clement P. издательство Книга по Требованию Книги
Cтраниц 180        мягкая обложка       
Аннотация:Classical trajectory planning algorithms in artificial intelligence are not designed to deal with wide continuous environments prone to currents. First, the FM* algorithm is proposed to extend the A* algorithm to the continuous domain. Furthermore torpedo-like underwater vehicles are strongly nonholonomic. Efficient trajectory planning algorithms are a crucial issue for modern autonomous underwater vehicles. Third, the vehicle turning radius is introduced as a constraint on the curvature of the optimal trajectory for both isotropic and anisotropic media. A novel Fast Marching based approach is proposed to address the following issues. Furthermore, a dynamic version of the Fast Marching algorithm called DFM is developed to efficiently replan trajectories in dynamic unpredictable environments. The overall Fast Marching based trajectory planning method has been tested on simulated underwater environments and validated on a real experimental platform in open water. Second, underwater currents are taken into account thanks to an anisotropic extension of the original Fast Marching algorithm.
Автор: Clement P.
Издательство: Книга по Требованию
Год:2010
Цена:
2625 руб
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Поиск: Trajectory Planning for Autonomous Underwater Vehicles. A Fast Marching based method for global trajectory planning



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