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- W45535870 abstract "Abstract : The ability of an autonomous vehicle control system to plan a safe, collision-free local path from one vehicle position to another is one of the most important functions. In this thesis, it is shown how a safe obstacle-free local path can be planned using optimal control theory and optimization techniques. The problem is posed as a two point boundary value problem with various problem constraints which control the vehicle behavior in transversing from one point to another. The objective function being minimized is a control performance index which includes vehicle energy saving parameters. Numerous fixed and moving obstacles in the dive plane are introduced and successfully avoided using this technique. Three-dimensional path planning is also successfully demonstrated on a 12 state linear model of an underwater vehicle. This technique is shown to be feasible method for a local path planning applications." @default.
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- W45535870 date "1988-06-01" @default.
- W45535870 modified "2023-09-23" @default.
- W45535870 title "Local Path Planning Using Optimal Control Techniques" @default.
- W45535870 hasPublicationYear "1988" @default.
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