Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/83408
Title: A path planning system for Autonomous Launch and Recovery System of Autonomous Underwater Vehicles
Authors: Suman, S.
Pai, S.
Wu, Y.
Kalyan, B. 
Chitre, M. 
Keywords: AutoLARS
AUV
Filtering
Path Planning
Tracking
Transformation
Issue Date: 2013
Source: Suman, S.,Pai, S.,Wu, Y.,Kalyan, B.,Chitre, M. (2013). A path planning system for Autonomous Launch and Recovery System of Autonomous Underwater Vehicles. OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common : -. ScholarBank@NUS Repository.
Abstract: In this paper, a path planning system for mobile Autonomous Launch And Recovery System (AutoLARS) is presented. The unique AutoLARS is capable of tracking an AUV eqipped with a commercial off the shelf transponder. Path planning system uses the information of position and commands the AutoLARS control system with motion set points. The real time tracking of the AUV is used to build approximate trajectory or intercept strategy directly. The path planning system uses a graph building method for filtering the tracking data of AUV and Finite State Machine (FSM) to compute motion set points for control system. The path planning incorporates motion that allows the AutoLARS to align with the AUV and intercept it. The AutoLARS does not require to be equipped with velocity sensors or high grade navigation sensors and assumes that AUV is coming at a nominal heading between two way points at a known depth. © 2013 MTS.
Source Title: OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common
URI: http://scholarbank.nus.edu.sg/handle/10635/83408
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

27
checked on Jan 13, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.