Event-Based Path-Planning and Path-Following in Unknown Environments for Underactuated Autonomous Underwater Vehicles

The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joined lines and arcs, bypassing obstacles encountered...

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Detaylı Bibliyografya
Asıl Yazarlar: Sergey Ulyanov, Igor Bychkov, Nikolay Maksimkin
Materyal Türü: Artigo
Dil:Inglês
Baskı/Yayın Bilgisi: MDPI AG 2020-11-01
Seri Bilgileri:Applied Sciences
Konular:
autonomous underwater vehicle
real-time path-planning
path-following
discrete-event system
Dubins path
forward-looking sonar
Online Erişim:https://www.mdpi.com/2076-3417/10/21/7894
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