Some marine trial results of a new method for AUV trajectory motion control

Filaretov, Vladimir; Yukhimets, Dmitry; Mursalimov, Eduard; Scherbatyuk, Alexander; Tuphanov, Igor E.

doi:10.1109/oceans.2014.7003191

Cited by 10 publications

(2 citation statements)

References 6 publications

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“…However, the most convenient approach for forming smooth trajectories for any sequence of waypoints is using Bezier splines of the third order. The examples of using the Bezier splines for planning trajectories of different MOs are described in [7,8]. However, these smooth trajectories are formed without considering the dynamic properties of the MO that can lead to the decrease of its speed of movement or to the increase of dynamic error.…”

Section: Introductionmentioning

confidence: 99%

Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines

Yukhimets

2017

AMM

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In this paper, the problem of planning smooth trajectories of mechatronic objects on the basis of Bezier splines of the third order with a minimal curvature is solved. Using such trajectories provides the maximal speed of movement for mechatronic objects. The neuron net, which approximates the function of the optimal selection of spline parameters is proposed to solve this problem. The advantage of the proposed approach is its lack of computational complexity, which allows its use in most on-board computers in real time.

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Section: Introductionmentioning

confidence: 99%

Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines

Yukhimets

2017

AMM

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“…The systems that provide accurately automatic movement of the UV along complex spatial trajectories [1,2] are already developed. For the taking into account negative angular displacements of the UV under the influence of the grasped objects and probes the methods [3,4] are developed.…”

Section: Introductionmentioning

confidence: 99%

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

Filaretov¹,

Konoplin²,

Konoplin³

et al. 2017

DAAAM Proceedings

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The work proposes the technology for an automatic implementation of the soil sampling by means of underwater multilink manipulators which are attached to submergible autonomous and remotely controlled vehicles. This technology includes the strategy of the safe approaching of a vehicle to a sea bottom surface, and also the formation of manipulator trajectories for the efficient soil sampling by hermetically sealed tubes and soil scoops. The results of sea tests are presented for the study of the working capacity of the proposed technology.

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Introduction

Wang

Tan

et al. 2023

Unmanned System Technologies

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Some marine trial results of a new method for AUV trajectory motion control

Cited by 10 publications

References 6 publications

Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines

Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

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