Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Bakarić, Vedran; Vukić, Zoran; Antonić, Radovan

doi:10.1109/isccsp.2004.1296435

Cited by 16 publications

(20 citation statements)

References 4 publications

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“…This causes sudden change of the course angle which affects the stern and rudder plane responses to move suddenly to the maximum position. This results in undesirable energy consumption due to the transients between two consecutive way-points [16], [17]. In order to achieve smoother turn at the way-points, the way-point guidance by the LOS is modified by making some corrections on the reference angles that are determined from the basic LOS guidance law.…”

Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

“…2. The coordinates of the auxiliary point is computed from the planar equations described by Bakaric et al [16] (13) The distances between the vehicle position and the auxiliary points can be calculated as,…”

Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

“…This sign depends on the spherical coordinate angles between the previous and current way-points and the current and next way-points. The sign of the correction angles and between and can be determined as (16) Similarly, the sign of the angles correction between and can be determined as (17) In order to have a smooth variation in correction angles, it is necessary to gradually change the angles from zero at the distance threshold point to a maximum value at a predefined distance and then bring it to zero at the way-point. The mapping from spherical coordinates to three dimensional Cartesian coordinates is given by (21) where is the radial distance used to parameterize the distance between two points in 3D space.…”

Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

“…Way-point guidance by LOS is one of the most widely used methods for AUVs due to its simplicity and computational advantages. However, it has a major drawback of undesirable control energy consumption due to transients during course change at the way-points [5], [16], [17].…”

Section: Introductionmentioning

confidence: 99%

“…Also, they are complex as they use coordinate transformations and include dynamics of the vehicle [11]- [15]. A simple technique to avoid the missed way-point and the overshoot issues in planar case was proposed by Bakaric et al [16]. This method generates a smooth way-point transition by considering the next way-point while calculating the heading correction for the current waypoint.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles

Subramanian¹,

Thondiyath²

2012

International Journal of Ocean System Engineering

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This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

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Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

Section: Improved Way-point Guidance By Line-ofsight Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles

Subramanian¹,

Thondiyath²

2012

International Journal of Ocean System Engineering

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Path planning for an identification mission of an Autonomous Underwater Vehicle in a lemniscate form

et al. 2018

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Optimal waypoint guidance synthesis

Ryoo¹,

Shin²,

Tahk³

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

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In this paper, a planar waypoint guidance synthesis for missiles or unmanned aerial vehicles using the optimal impact-angle-control laws is proposed. The energy optimal trajectory optimization problem with waypoint constraints can be converted to an unconstrained optimization problem of finding the optimal waypoint pass angles for the energy impact-angle-control laws. These optimal waypoint pass angles can be simply determined from a set of linear algebraic equations. Our approach does not require time-consuming numerical optimizations so that the energy optimal trajectory passing through all the waypoints can be generated in real time.

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Cited by 16 publications

References 4 publications

An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles

An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles

Path planning for an identification mission of an Autonomous Underwater Vehicle in a lemniscate form

Optimal waypoint guidance synthesis

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