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Motion Planning for Small Formations of Autonomous Vehicles Navigating on Gradient Fields

Kalantar, Shahab; Zimmer, Uwe

Description

In this paper, we present a motion planning scheme for navigation of a contour-like formation of autonomous underwater vehicles on gradient fields and subsequent convergence to desired isoclines, inspired by evolution of closed planar curves. The basic evolution behaviour is modified to include moving boundary points and incorporate safety constraints on formation parameters. Also, the whole process is decomposed into a sequence of well-behaving states. As opposed to the basic model, the...[Show more]

dc.contributor.authorKalantar, Shahab
dc.contributor.authorZimmer, Uwe
dc.coverage.spatialTokyo Japan
dc.date.accessioned2015-12-08T22:13:57Z
dc.date.createdApril 17-20 2007
dc.identifier.isbn1424412080
dc.identifier.urihttp://hdl.handle.net/1885/30019
dc.description.abstractIn this paper, we present a motion planning scheme for navigation of a contour-like formation of autonomous underwater vehicles on gradient fields and subsequent convergence to desired isoclines, inspired by evolution of closed planar curves. The basic evolution behaviour is modified to include moving boundary points and incorporate safety constraints on formation parameters. Also, the whole process is decomposed into a sequence of well-behaving states. As opposed to the basic model, the regularized solution is characterized by the maximum allowable curvature rather than balance of forces determined by fixed coefficients. Nevertheless, the proposed framework subsumes the original model. Blocking states and fairness are briefly discussed.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesScientific Use of Submarine Cables and Related Technologies (SSC 2007)
dc.sourceProceedings of the 2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies
dc.subjectKeywords: Constraint theory; Mathematical models; Motion planning; Navigation systems; Process control; Boundary points; Gradient fields; Safety constraints; Autonomous underwater vehicles
dc.titleMotion Planning for Small Formations of Autonomous Vehicles Navigating on Gradient Fields
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2007
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationu4334215xPUB70
local.type.statusPublished Version
local.contributor.affiliationKalantar, Shahab, College of Engineering and Computer Science, ANU
local.contributor.affiliationZimmer, Uwe, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage512
local.bibliographicCitation.lastpage519
local.identifier.doi10.1109/UT.2007.370775
dc.date.updated2015-12-08T07:46:49Z
local.identifier.scopusID2-s2.0-34748888354
CollectionsANU Research Publications

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