Trajectory planning for motion-constrained AUVs in uncertain environments

@article{Houts2014TrajectoryPF,
  title={Trajectory planning for motion-constrained AUVs in uncertain environments},
  author={Sarah E. Houts and Stephen Rock},
  journal={2014 Oceans - St. John's},
  year={2014},
  pages={1-5}
}
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

References

Publications referenced by this paper.
Showing 1-9 of 9 references

Stochastic control via chance constrained optimization and its application to unmanned aerial vehicles,

  • M. P. Vitus
  • Ph.D. dissertation,
  • 2012
1 Excerpt

Saebo, “Low altitude AUV terrain navigation using an interferometric sidescan sonar,

  • O. Hagen, K. Anonsen
  • OCEANS
  • 2011
1 Excerpt

Terrain relative navigation for sensor-limited systems with application to underwater vehicles,

  • D. Meduna
  • 2011
1 Excerpt

and J

  • A. Bennett, J. Leonard
  • Bellingham, “Bottom following for surveyclass…
  • 1995
1 Excerpt

Similar Papers

Loading similar papers…