Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion

Cao, Junliang; Cao, Junjun; Zeng, Zheng; Yao, Baoquan; Lian, Lian

doi:10.1007/s10846-016-0382-8

Cited by 36 publications

(10 citation statements)

References 39 publications

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“…Another extension of this work is to develop an on-line planning scheme [34][35][36][37] that can be incorporated into a glider's guidance system to allow it to regenerate the trajectory during the course of the mission. 38,39…”

Section: Resultsmentioning

confidence: 99%

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Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Cao

Zeng

et al. 2016

International Journal of Advanced Robotic Systems

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In this article, an adaptive backstepping control is proposed for multi-input and multi-output nonlinear underwater glider systems. The developed method is established on the basis of the state-space equations, which are simplified from the full glider dynamics through reasonable assumptions. The roll angle, pitch angle, and velocity of the vehicle are considered as control objects, a Lyapunov function consisting of the tracking error of the state vectors is established. According to Lyapunov stability theory, the adaptive control laws are derived to ensure the tracking errors asymptotically converge to zero. The proposed nonlinear MIMO adaptive backstepping control (ABC) scheme is tested to control an underwater glider in saw-tooth motion, spiral motion, and multimode motion. The linear quadratic regular (LQR) control scheme is described and evaluated with the ABC for the motion control problems. The results demonstrate that both control strategies provide similar levels of robustness while using the proposed ABC scheme leads to the more smooth control efforts with less oscillatory behavior.

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Section: Resultsmentioning

confidence: 99%

“…In equation (37), _ m b is defined as u 3 , the expressions of _ V 1 , _ V 3 , and _ have been described in equation ( 8), equation (10) and equation (3), and assume _ z 12 ¼ Àc 12 z 12 (38) Substituting equation (38) into equation (37), the expression of u 3 is obtained (equation ( 20)).…”

Section: Adaptive Backstepping Controller Designmentioning

confidence: 99%

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Cao

Zeng

et al. 2016

International Journal of Advanced Robotic Systems

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“…Firstly, a level of nodes and branches are determined and connected for collision avoidance. Then branches that connect the nodes to the docking station are generated, as (27) represents. They provide the new planned paths for further evaluation which are saved into H .…”

Section: Path Generationmentioning

confidence: 99%

“…Several efforts have been made by researchers to address the path planning problem for robots docking already [13,15,[20][21][22][23][24][25][26][27]. Among them, one of the most popular approaches is the artificial potential field (APF) method.…”

Section: Introductionmentioning

confidence: 99%

“…Resultant path is obtained as a series of 2D lines and circles determined by the shortest path faster algorithm. In [27], the path planning problem for multiple underwater gliders rendezvous is addressed while considering the minimal energy consumption target. Modified Dubins curves are presented and combined with the genetic algorithm (GA) to determine the resultant paths.…”

Section: Introductionmentioning

confidence: 99%

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Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

et al. 2018

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This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles. To determine the smooth collision-free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach. The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation. For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision-free branches are determined inspired by the elastic band theory. A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree. Simulation results are presented to show the validity and feasibility of the proposed approach.

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Cooperative Beam-Rider Guidance for Unmanned Aerial Vehicle Rendezvous

Parayil

Ratnoo

2018

J Intell Robot Syst

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Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion

Cited by 36 publications

References 39 publications

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Cooperative Beam-Rider Guidance for Unmanned Aerial Vehicle Rendezvous

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