Trajectory Planning for Autonomous Underwater Vehicles
Language: English
Published by LAP LAMBERT Academic Publishing Okt 2010, 2010
- Softcover
- New
Seller: buchversandmimpf2000, Emtmannsberg, BAYE, Germanybuchversandmimpf2000
AbeBooks seller since January 23, 2017
Condition: New
£ 60.04
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This item is printed on demand - Print on Demand Titel. Neuware -Efficient trajectory planning algorithms are a crucial issue for modern autonomous underwater vehicles. Classical trajectory planning algorithms in artificial intelligence are not designed to deal with wide continuous environments prone to currents. Furthermore torpedo-like underwater vehicles are strongly nonholonomic. A novel Fast Marching based approach is proposed to address the following issues. First, the FM\* algorithm is proposed to extend the A\* algorithm to the continuous domain. Second, underwater currents are taken into account thanks to an anisotropic extension of the original Fast Marching algorithm. Third, the vehicle turning radius is introduced as a constraint on the curvature of the optimal trajectory for both isotropic and anisotropic media. 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.VDM Verlag, Dudweiler Landstraße 99, 66123 Saarbrücken 180 pp. Englisch.…
Seller Inventory # 9783843357043
- Title
- Trajectory Planning for Autonomous Underwater Vehicles
- Author
- Clement Petres
- Publisher
- LAP LAMBERT Academic Publishing Okt 2010
- Publication year
- 2010
- Condition
- Neu
- Binding
- Taschenbuch
- Language
- English
- ISBN 10
- 3843357048
- ISBN 13
- 9783843357043
- Item weight
- 286 grams
- Dimensions
- 220x150x12 mm
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buchversandmimpf2000
Emtmannsberg, BAYE, Germany
AbeBooks seller since January 23, 2017
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