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To address the local path planning problem for autonomous land vehicle in unstructured environments, a novel method combining navigation function and A* search is proposed. The computed navigation function in this paper embodies different constraints of vehicle, so in fact to be a near-feasible trajectory. Next the navigation function and sensed obstacles is used to construct the heuristic function,...
With the development of the intelligent transportation systems (ITS), and the widely used technologies of road testing, machine vision etc. in the field of intelligent vehicle, it is possible for the smart car to move automatically in well-structured environments. As for urban complex environments, the researches on unmanned intelligent vehicle are still at the initial stage. For the more complex...
Today a large number of autonomous underwater vehicles (AUVs) are evaluated or operated all over the world. Most of them use their own control systems created by the vehicle's manufacturer or scientists of different research areas. The Fraunhofer Application Center System Technology currently owns three underwater vehicles (both AUVs and remotely operated vehicles, ROVs), a forth is under development...
Ocean and air going autonomous vehicles are capable of performing “dirty, dull and dangerous” (3D) missions and have already proved invaluable in the field. 3D missions arise not only in defense operations, but also in civilian operations, such as those concerned with oceanographic and environmental protection or harbor protection missions. These current trends set new requirements for future generations...
Due to its significant potential applications, underwater chemical plume exploration and source localization via an autonomous underwater vehicle (AUV) is currently a hot subject both in AUV and oceanic engineering research communities. Chemical plume including buoyant stem and non-buoyant part such as deep-sea hydrothermal plume is a typical dynamic 3D feature in the ocean environment; therefore,...
This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a future Titan Aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncerttain and changing...
In this paper we demonstrate a method for obstacle avoidance of heterogeneous unmanned marine vehicle teams. The task is to find a collision free path for a vehicle group moving in close formation through an area with known obstacles, while keeping formation when possible and change formation when necessary. Whenever possible, they shall use their original paths in desired formation, as only this...
Today, due to the current state-of-the-art of embedded systems, underwater robotic vehicles are limited in both, their autonomy and capabilities. In order to increase their utility it is advantageous to run multiple vehicles at the same time whereby each vehicle serves as individual node in an underwater network. In this context a group of leading European vehicle manufacturers and researchers set...
In the past few years, there has been increasing interest in the use of the Arctic, both as an ocean waterway and as a source of natural resources and food. In support of these objectives, scientific studies and research to characterise the Arctic environment are being initiated. At the same time, northern nations have begun to collect the data that is necessary to assert their sovereignty claims...
Since the mid 1960's, Canadian companies and universities have been leaders in the development of unmanned underwater vehicles and sensing systems. Over the same period, there has been increasing interest in the use of the Arctic, both as an ocean waterway and as a source of natural resources and food. In support of these objectives, scientific studies and research to characterize the Arctic environment...
We present a decentralized approach used to coordinate several flexible automated guided vehicles (AGVs) operating in flexible manufacturing systems (FMSs). The decentralized coordination is based on a control policy for planning the collision-free motion, which takes into account kinematics and safety constrains. Besides this, in order to avoid deadlocks in critical zones, such as doors and corridors,...
To investigate and develop unmanned vehicle systems technologies for autonomous multiagent mission platforms, we are using an indoor multivehicle testbed called real-time indoor autonomous vehicle test environment (RAVEN) to study long-duration multivehicle missions in a controlled environment. Normally, demonstrations of multivehicle coordination and control technologies require that multiple human...
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