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This paper describes a modification of authors' previous work on virtual potential methods for planning and guidance of autonomous underwater vehicles (AUVs) along trajectories in ℝ2 and ℝ3. The modification replaces the algebraic sampling procedure of scalar potentials, performed in the previous algorithm in order to allow for the numerical approximation of the true local gradient of the potential,...
In contrast with man-operating underwater vehicles, autonomous underwater vehicles (AUVs) should find a proper trajectory, control to follow the trajectory, avoid static or moving obstacles, and home safely to their mother ship or launching device by themselves. As a consequence, lots of newly introduced problems have to be solved compared to man-operating underwater vehicle case. In these works we...
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