Path planning with homotopic constraints for autonomous underwater vehicles

Path planning with homotopic constraints for autonomous underwater vehicles

This thesis addresses the path planning problem for Autonomous Underwater Vehicles (AUVs) using homotopy classes to provide topological information on how paths avoid obstacles. Looking for a path within a homotopy class constrains the search into a specific area of the search space, speeding up the...

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Bibliographic Details
Main Author: Hernàndez Bes, Emili
Other Authors: Ridao Rodríguez, Pere
Format: Doctoral Thesis
Language:English
Published: Universitat de Girona 2012
Subjects:
Path planning
Planificació de camins
Planificación de caminos
Homotopy
Homotopia
Homotopía
Autonomous underwater vehicle
Vehicles submarins autònoms
Vehículos submarinos autónomos
Navigation and guidance
Navegació i orientació
Navegación y orientación
68
Online Access:http://hdl.handle.net/10803/83568

Internet

http://hdl.handle.net/10803/83568

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