基于急转弯算法的小型无人潜航器最优路径规划

2016 International Conference on Information Technology Systems and Innovation (ICITSI) Pub Date : 2016-10-01 DOI:10.1109/ICITSI.2016.7858230

Muhammad Asrofi, A. Cahyadi, O. Wahyunggoro

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引用次数: 3

摘要

提出了一种利用陡角转弯算法对无人水面飞行器进行有效时间路径规划的方法。该方法用于创建目标两点之间的曲线。USV采用卡尔曼滤波的9自由度IMU和惯性导航系统(INS)作为将IMU的9轴组合成俯仰、横摇和偏航的方法。卡尔曼滤波生成的偏航角值将与全球定位系统(GPS)传感器的航向相结合。

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Optimal path planning of a mini USV using sharp cornering algorithm

This paper proposes a method for path planning of Unmanned Surface Vehicle (USV) with the effective period of time to achieve the target using sharp cornering algorithm. This method is used to create the curve between two points of the target. USV uses 9 DOF IMU with Kalman Filter and also the Inertial Navigation System (INS) as a method to combine 9 axis of IMU become pitch, roll and yaw. The generated value of yaw from Kalman Filter will be combined with the heading from Global Positioning System(GPS) sensor.

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2016 International Conference on Information Technology Systems and Innovation (ICITSI)

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