Title :
A topological map based approach to long range operation of an unmanned surface vehicle
Author :
Gadre, A.S. ; Shu Du ; Stilwell, Daniel J.
Author_Institution :
Bradley Dept. of Electr. & Comput. Eng., Virginia Tech, Blacksburg, VA, USA
Abstract :
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.
Keywords :
marine vehicles; mobile robots; path planning; remotely operated vehicles; trajectory control; vehicle dynamics; dynamically feasible vehicle trajectory planning; kinematic model; long range operation; topological map based approach; tropical riverine system; unmanned surface vehicle; vehicle dynamics; Buildings; Planning; Skeleton; Trajectory; Transforms; Vehicle dynamics; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315370
