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In this paper, we address the solution of solving the following problem: given a known workspace and a robot with limited sensors compute a short path for the vehicle so that every space in the workspace could be detected by the limited sensor of mobile robot on at least one point of the path. Visibility constraints including range of distance and angle of incidence are taken into consideration to...
Searching the unknown or partially known region or acquiring the new information in the map is an important mission for vehicle in the areas of military and civilian use. Planning the lowest-cost path is one of the primary work for searching the environment. This paper develops a planning strategy which could minimize the cost and every corner in the map can be seen on the path based on cell decomposition...
Cooperative localization(CL) is a crucial cycle in navigation with multiple autonomous underwater vehicles(MAUVs). Due to the terrible underwater environment, measuring and communicating each other are still difficult challenges for AUVs until now, which both are also essential for CL to improve the position performance. Based on the two principles below: 1 (minimizing the consumption of CL without...
This paper derives a control law to steer the dynamic model of an underactuated autonomous underwater vehicle (AUV) along a predefined path. We describe the path to be followed by the movement of a virtual AUV and drive the actual AUV on the desired path through following this virtual AUV. Furthermore, it overcomes a singular point that are presented in a number of path following control strategies...
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