Trajectory planning for motion-constrained AUVs in uncertain environments

  title={Trajectory planning for motion-constrained AUVs in uncertain environments},
  author={Sarah E. Houts and Stephen Rock},
  journal={2014 Oceans - St. John's},
Providing a series of images of a site over time with a survey-class AUV presents numerous challenges, particularly in the process of getting close to rugged terrain with a motion-constrained vehicle in an uncertain environment. To deal with this, a baseline approach presented in previous work by the authors plans spline-based trajectories based on an a priori map of the terrain, allowing for improved performance over purely reactive control schemes. This paper extends that approach to account… CONTINUE READING


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