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Guidance algorithms for UUVs
obstacle avoidance systems
Moitie,
R. Seube,
N.
Ecole Nat.
Superieure d'Ingenieurs des Etudes et Tech. d'Armement,
Brest;
This paper
appears in: OCEANS 2000 MTS/IEEE Conference and
Exhibition
09/11/2000 -09/14/2000, 2000
Location: Providence, RI , USA
On page(s): 1853-1860 vol.3
2000
References Cited: 10
Number of Pages: 3
vol.(lii+lxxiii+2196)
INSPEC Accession Number: 6838922
Abstract:
To widen the range of application of
underwater vehicles both in industrial application and in
environmental survey, we need to design powerful robotic
systems, exhibiting a maximum degree of autonomy. Ability to
construct a reliable representation of the underwater
environment, to plan viable trajectories leading to safe
mission execution are of prime importance. Sonar is used. In
this paper, we present a trajectory planning system which is
able to take into account uncertainty about the vehicle's
dynamics and nonregular terrain or underwater obstacles. We
consider the problem as a differential game against Nature
under state constraints. By using results from viability
theory and set-valued analysis, we propose a numerical scheme
able to compute approximate solution to trajectory planning
problems
Index Terms:
collision
avoidance differential
games mobile
robots set
theory sonar
uncertain
systems underwater
vehicles
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