A topological map based approach to long range operation of an unmanned surface vehicle

We present an approach to planning dynamically feasible vehicle trajectories for applications where the vehicle operates in very large environments and for which a kinematic model is a poor approximation of the vehicle's dynamics. Our approach is based on new methods for generating topological...

Full description

Saved in:
Bibliographic Details
Published in2012 American Control Conference (ACC) pp. 5401 - 5407
Main Authors Gadre, A. S., Shu Du, Stilwell, D. J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2012
Subjects
Buildings
Planning
Skeleton
Trajectory
Transforms
Vehicle dynamics
Vehicles
Online AccessGet full text

Cover

More Information
Summary:We present an approach to planning dynamically feasible vehicle trajectories for applications where the vehicle operates in very large environments and for which a kinematic model is a poor approximation of the vehicle's dynamics. Our approach is based on new methods for generating topological maps of a sparse and natural environment, such as a tropical riverine system.
ISBN:9781457710957
1457710951
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2012.6315370