A path planning and following algorithm of observing targets for the UVMS Robocutt-I

	A path planning and following algorithm of observing targets for the UVMS Robocutt-I
	Yu Wang; Shuo Wang; Min Tan; Wang S(王硕)
	2014
会议名称	13th World Congress on Intelligent Control and Automation
会议录名称	IEEE World Congresson Intelligent Control and Automation （WCICA）
页码	3083-3088
会议日期	2014
会议地点	沈阳
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.
关键词	Task Assignment Path Planning Path Following Path Tracking Dubins Curves
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4962
专题	复杂系统认知与决策实验室_先进机器人
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],2014:3083-3088.

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