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- W2121560140 abstract "The primary focus of this paper is to provide a solution to the practical motion planning problem of a ship hull survey to be performed by an Autonomous Underwater Vehicle (AUV). In particular, we examine the bulbous bow portion of the hull and present a reasonable survey strategy. Unique to this applied study, is the ap proach to the problem via differential geometric techniques. The motion planning problem is solved by use of a geometric reduction to the dynamic equations of motion, and the trajectory is generated through the concatenation of kinematic motions. The control strategy for each arc of the trajectory is calculated and implemented onto a test-bed vehicle. Experimental results are presented to demonstrate the effectiveness of this motion planning solution." @default.
- W2121560140 created "2016-06-24" @default.
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- W2121560140 date "2010-01-01" @default.
- W2121560140 modified "2023-09-25" @default.
- W2121560140 title "Designing Practical Motions for Autonomous Underwater Vehicles: A Ship Hull Survey Mission" @default.
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