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

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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Bibliographic Details
Main Authors: Sergey Ulyanov, Igor Bychkov, Nikolay Maksimkin
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Applied Sciences
Subjects:
autonomous underwater vehicle
real-time path-planning
path-following
discrete-event system
Dubins path
forward-looking sonar
Online Access:https://www.mdpi.com/2076-3417/10/21/7894

Internet

https://www.mdpi.com/2076-3417/10/21/7894

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