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In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular,...
This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly,...
Based on the inherent properties of horizontal linear complementarity problems, this paper presents a neural network for solving a class of horizontal linear complementarity problem in real time by introducing the new vectors. Two sufficient conditions are provided to ensure that the proposed neural network is stable in the sense of Lyapunov and converges to an exact solution of the underlying problem...
Mobile element has been proposed to assist data collection or data relay in wireless sensor networks, since it is able to either significantly save energy consumption or reach disconnected nodes due to the limited radio range. Trajectory of the mobile elements play an important role in avoiding buffer overflow of sensor nodes. In this paper, we propose optimization problems for mobile elements in...
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