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- W2083614541 abstract "In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method." @default.
- W2083614541 created "2016-06-24" @default.
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- W2083614541 date "2013-11-01" @default.
- W2083614541 modified "2023-09-25" @default.
- W2083614541 title "An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment" @default.
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- W2083614541 doi "https://doi.org/10.1109/ram.2013.6758567" @default.
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