CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles
Wang, Yu1,2; Wang, Shuo1; Tan, Min1
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2015-09-01
Volume62Issue:9Pages:5619-5629
SubtypeArticle
AbstractThis paper is devoted to an autonomous approach to a moving ship for unmanned vehicles. The problem is introduced and formulated first. Cooperation between the vehicle and the ship is needed, such that the moving ship to be approached is set to move at a constant speed along a straight line or a circle. Hence, an approaching algorithm based on 3-D path generation is proposed. The 3-D vehicle trajectory produced by the path generation realizes smooth transition from the initial pose to the final pose with geometric constraints. The final poses the unmanned vehicle and the ship's reach simultaneously are analyzed and obtained based on 3-D path generation. The related parameters for autonomous navigation of an unmanned vehicle are discussed according to the straight line or the circle that the ship sails along. The approaching algorithm is sequentially summarized. The simulations are conducted, and the results show the effectiveness and real-time performance of the proposed method.
KeywordAutonomous Approach Path Generation Trajectory Smoothing Unmanned Vehicles
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2015.2405904
WOS KeywordALGORITHM ; UAVS ; TRACKING ; 3-D
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000359560800028
Citation statistics
Cited Times:14[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8909
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Wang, Yu,Wang, Shuo,Tan, Min. Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2015,62(9):5619-5629.
APA Wang, Yu,Wang, Shuo,&Tan, Min.(2015).Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,62(9),5619-5629.
MLA Wang, Yu,et al."Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 62.9(2015):5619-5629.
Files in This Item: Download All
File Name/Size DocType Version Access License
Path generation of a(1589KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang, Yu]'s Articles
[Wang, Shuo]'s Articles
[Tan, Min]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang, Yu]'s Articles
[Wang, Shuo]'s Articles
[Tan, Min]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang, Yu]'s Articles
[Wang, Shuo]'s Articles
[Tan, Min]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Path generation of autonomous approach to a moving ship for unmanned vehicles.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.