Name
Abstract | ||
|---|---|---|
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve for trajectories from a start to a goal configuration. Our method generates feasible trajectories by integrating two Dubins curves. In fact, the motion planning technique is devised to not only generate feasible trajectories but also to assess the optimality of the proposed trajectories. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090418 | Robotics and Biomimetics |
Keywords | Field | DocType |
autonomous underwater vehicles,curve fitting,design engineering,mobile robots,motion control,optimal control,path planning,propellers,robot dynamics,trajectory control,Dubins curves,H-AUV,dynamic modeling,hybrid autonomous underwater vehicle,locomotive capabilities,mechanical design,motion planning technique,path planning,propelled underwater vehicle,trajectories optimality,underwater glider | Motion planning,Mechanical design,Control theory,Control engineering,Vehicle dynamics,System dynamics,Engineering,Underwater vehicle,Underwater glider | Conference |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bilal Wehbe | 1 | 0 | 1.01 |
| Elie A. Shammas | 2 | 131 | 18.06 |
| Joseph Zeaiter | 3 | 0 | 0.68 |
| Daniel C. Asmar | 4 | 82 | 20.11 |