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Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles | |
Wang, Yu1,2; Wang, Shuo1; Tan, Min1 | |
发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS |
2015-09-01 | |
卷号 | 62期号:9页码:5619-5629 |
文章类型 | Article |
摘要 | This 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. |
关键词 | Autonomous Approach Path Generation Trajectory Smoothing Unmanned Vehicles |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1109/TIE.2015.2405904 |
关键词[WOS] | ALGORITHM ; UAVS ; TRACKING ; 3-D |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000359560800028 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/8909 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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. |
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