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Accession number;05A0661071
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| Title;Motion Planning and Control of Under Actuated Underwater Vehicle in the Unknown and Non-Uniform Sea Flow |
| Author;
KAWANO HIROSHI
(Nippon Telegraph and Telephone Corp., Communication Sci. Lab., JPN)
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Journal Title;Proceedings of the Annual Conference on JSAI (CD-ROM)
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Journal Code:X0580B
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ISSN:
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VOL.19th;NO.;PAGE.1D1-04(2005)
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| Figure&Table&Reference;FIG.6, REF.9 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;The development of a practical motion planning and control algorithm for under actuated underwater vehicles has been very problematic for several reasons. First, not only the kinematical characteristics of the motion but also the dynamical characteristics of the underwater vehicle must be considered in the motion planning calculation. Second, it is very difficult to ascertain the exact distribution of the velocity of non-uniform sea flow around obstacles on the seabed before the mission. This paper introduces a motion digitizing method based on an artificial neuron model for MDP based motion planning and a method for making up for the difference between learning and mission environments. The performance of the proposed algorithm is examined by the dynamical simulation of an under-actuated underwater vehicle cruising in the unknown non-uniform sea flow with vortex. (author abst.) |
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