Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles
	Wang, Yu1,2 ; Wang, Shuo1 ; Tan, Min1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2015-09-01
卷号	62 期号:9 页码:5619-5629
关键词	Autonomous approach path generation trajectory smoothing unmanned vehicles
英文摘要	This paper is devoted to an autonomous approach to a moving ship for unmanned vehicles. The problem is introduced and formulated first. Cooperation between the vehicle and the ship is needed, such that the moving ship to be approached is set to move at a constant speed along a straight line or a circle. Hence, an approaching algorithm based on 3-D path generation is proposed. The 3-D vehicle trajectory produced by the path generation realizes smooth transition from the initial pose to the final pose with geometric constraints. The final poses the unmanned vehicle and the ship's reach simultaneously are analyzed and obtained based on 3-D path generation. The related parameters for autonomous navigation of an unmanned vehicle are discussed according to the straight line or the circle that the ship sails along. The approaching algorithm is sequentially summarized. The simulations are conducted, and the results show the effectiveness and real-time performance of the proposed method.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	ALGORITHM ; UAVS ; TRACKING ; 3-D
收录类别	SCI
语种	英语
WOS记录号	WOS:000359560800028
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/8909]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Wang, Yu,Wang, Shuo,Tan, Min. Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2015,62(9):5619-5629.
APA	Wang, Yu,Wang, Shuo,&Tan, Min.(2015).Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,62(9),5619-5629.
MLA	Wang, Yu,et al."Path Generation of Autonomous Approach to a Moving Ship for Unmanned Vehicles".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 62.9(2015):5619-5629.