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One approach to designing an optimal real-time collision-free trajectory for autonomous underwater vehicles (AUVs) that move in a 3D unknown underwater space presented here. By explicitly considering the kinematic model of AUVs, a class of feasible trajectories is derived in a closed form, and is expressed in terms of two adjustable parameters for the purpose of collision avoidance. Then, a collision...
In this paper, an approach is proposed to determine a real-time collision-free path for an autonomous underwater vehicle (AUV) moving in an unknown underwater space. A class of trajectories is obtained by polynomial parameterization. The coefficients of the polynomial are determined at each sampling period, by satisfying boundary condition and collision avoidance criteria. Based on the class of trajectories,...
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