A path planning and following algorithm of observing targets for the UVMS Robocutt-I
文献类型：会议论文
| 作者 | Yu Wang ; Shuo Wang; Min Tan; Wang S(王硕)
|
| 出版日期 | 2014 |
| 会议名称 | 13th World Congress on Intelligent Control and Automation |
| 会议日期 | 2014 |
| 会议地点 | 沈阳 |
| 关键词 | task assignment, path planning, path following,path tracking, Dubins curves |
| 页码 | 3083-3088 |
| 通讯作者 | 王硕 |
| 英文摘要 | The paper investigates a path planning and following algorithm of observing targets for an underwater vehiclemanipulator system(UVMS). The algorithm including the operational task assignment and path following for the UVMS is proposed. The operational task assignment consists of path planning and task assignment. Path planning provides planned trajectory distance between any two targets for task assignment, and task assignment produces a suitable task order for the minimum of the UVMS sailing distance. In path planning, the shortest path considering UVMS nonholonomic constraints— Dubins curve, is employed. It is implemented by matrix transformation. Then a digraph is generated by marking the shortest distance between any two targets. Hence the task assignment problem is considered as a traveling salesman problem, which can be achieved by the genetic algorithm. Finally a pathfollowing guidance method is employed. Simulation results show the effectiveness of the proposed method. |
| 收录类别 | EI |
| 会议录 | IEEE World Congresson Intelligent Control and Automation （WCICA）
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4962]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Wang S(王硕) |
| 推荐引用方式 GB/T 7714 | Yu Wang,Shuo Wang,Min Tan,et al. A path planning and following algorithm of observing targets for the UVMS Robocutt-I[C]. 见:13th World Congress on Intelligent Control and Automation. 沈阳. 2014. |
入库方式： OAI收割
来源：自动化研究所
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