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Advanced trajectory planning for obstacle avoidance of multiple unmanned marine vehicles (MUMVs)

: Glotzbach, T.; Alrifaee, B.; Schneider, M.; Jacobi, M.; Zimmermann, A.; Ament, C.


Lampe, B.P. ; International Federation of Automatic Control -IFAC-:
8th IFAC Conference on Control Applications in Marine Systems, CAMS 2010 : 15.09.-17.09.2010, Rostock
Rostock, 2010
ISBN: 978-3-902661-88-3
6 S.
Conference on Control Applications in Marine Systems (CAMS) <8, 2010, Rostock>
Fraunhofer IOSB ()

In this paper we present our work and results in the framework of obstacle avoiding for marine vehicle teams by means of trajectory planning. Based on a team of maritime systems, such as Autonomous Underwater Vehicles (AUVs) or Autonomous Surface Vehicles (ASVs), which are intended to perform a preplanned mission in a given formation topology, methods for trajectory planning are investigated which guarantee for both obstacle-free paths and formation preservation. The proposed solution contains advanced graph search and trajectory smoothing to generate executable path for the vehicles.