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dc.contributor.authorHassani, Vahid
dc.contributor.authorLande, Simen V.
dc.date.accessioned2018-12-10T18:49:59Z
dc.date.available2018-12-10T18:49:59Z
dc.date.created2018-10-26T17:52:06Z
dc.date.issued2018-05
dc.identifier.citationIFAC-PapersOnLine. 2018, 51 (29), 305-310.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2577014
dc.description.abstractOver the past few years maritime sector has witnessed an increasing interest in use of autonomous ships and in particular Autonomous Surface Vehicles (ASV) in complex applications with high associated risks. There is an uprising interest in the development of advanced path planning algorithms for marine vehicles in congested waterways. Availability of an efficient path planning technique that considers the dynamic capabilities of the vehicle is of paramount importance in the implementation of these algorithms. This article reports an early work which aims to contribute to the development of a new generation of path planning that incorporates in its formulation the dynamics of the vehicles and extra data made available by on board sensors about obstacles and other vehicles in vicinity. To this end, Bézier Curves are exploited as the basis for generating a rich set of paths. Then, differential flatness property of the vehicle is used to assign a cost function to each path that reflects the dynamic capabilities of the vehicle on that path. The efficacy of the proposed algorithm is shown by help of numerical simulations.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.subjectBezier curvenb_NO
dc.subjectpath planningnb_NO
dc.subjectdifferential flatnessnb_NO
dc.titlePath planning for marine vehicles using Bezier curvesnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionpublishedVersionnb_NO
dc.rights.holder© 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.nb_NO
dc.source.pagenumber305-310nb_NO
dc.source.volume51nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue29nb_NO
dc.identifier.doi10.1016/j.ifacol.2018.09.520
dc.identifier.cristin1624026
cristin.unitcode7566,9,0,0
cristin.unitnameSkip og havkonstruksjoner
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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