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A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
(2018)
This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
Autonomous Optical Survey Based on Unsupervised Segmentation of Acoustic Backscatter
(2018)
The application of acoustics to study the seabed have for decades provided industry and science with valuable information, and is still excels in terms of spatial coverage and detail. An acoustic response from the seabed ...
An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance
(2018)
This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...
A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles
(2018)
This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...