2A1-F02 3D Collision-free Motion Planning for Multi-AUV

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概要

• 論文の詳細を見る

• An advanced algorithm of collision-free motion planning for multi-AUV (Autonomous Underwater Vehicle) is suggested to accomplish various missions in complex underwater environment. First of all, we propose the path generation algorithm from 3D digital underwater terrain maps made by mapping algorithm. We optimize the visibility graph and make minimum-time 3d curved path in consideration of the dynamics of AUVs, which have non-holonomic constraints, such as an inability of quick turning a heading angle and a difficulty of changing submerged velocity in underwater environment. Furthermore, we plan 3d collision-free trajectory using the extended collision map for multi-AUV. Finally, we suggest the real time simulator of multi-AUV navigation.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• Lee Beom

  Asri Department Of Electrical Engineering Seoul National University

• LEE Beom

  ASRI, Department of Electrical Engineering, Seoul National University

• LEE Tae

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Kong

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Heon

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Tae

  Asri Department Of Electrical Engineering Seoul National University

• Lee Kong

  Asri Department Of Electrical Engineering Seoul National University

• Lee Heon

  Asri Department Of Electrical Engineering Seoul National University

関連論文

• 2A1-F05 Collision Resolution of Robots Coexisting with Humans
• 2A1-F04 Discovering Vulnerable Areas for Multiple Security Robots
• 2A1-F01 Area Allocation for Cleaning Task using Multiple Robots
• 2A1-F03 Improved 3-D Underwater Terrain Covering for Multi-AUV
• 2A1-F02 3D Collision-free Motion Planning for Multi-AUV
• 1A1-E18 Dispersion Technique for Particle Diversity in FastSLAM

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