Trajectory planning for multiple autonomous underwater vehicles with safety guarantees

Autor:	Zhang, Shuhao, Yang, Yujia, Siriya, Seth, Pu, Ye
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based on Hamilton-Jacobi differential game formulation and model predictive control is proposed to generate safety-guaranteed trajectories for AUV systems considering wave disturbance that is either time-varying state-independent or time-varying state-dependent. This approach plans safety-guaranteed trajectories for multiple AUVs and considers the shapes of AUVs, where nonlinear smooth collision avoidance constraints are obtained via strong duality.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.13505 Zobrazit plný text záznamu View this record from Arxiv