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Perception et suivi de fond pour véhicules autonomes sous-marins
| Content Provider | Semantic Scholar |
|---|---|
| Author | Creuze, Vincent Jouvencel, Bruno |
| Copyright Year | 2003 |
| Abstract | This paper outlines a method of seabed following designed for underwater vehicles navigating in a priori unknown environment. This method aims to fit with the path defined by the seabed shape but it also respects the manoeuvring constraints of the said vehicle. The construction of such trajectories is achieved by using geometrical functions and interpolating polynomials such as “semi-forced cubic splines” or “Hermite polynomials”. Environment modelling is carried out thanks to the bathymetric acquisitions of two embedded sounders situated in the front part of the vehicle. Finally, we present the results obtained by hydrodynamic simulation and those obtained during experimentation in the open sea. |
| Starting Page | 323 |
| Ending Page | 336 |
| Page Count | 14 |
| File Format | PDF HTM / HTML |
| Volume Number | 20 |
| Alternate Webpage(s) | http://documents.irevues.inist.fr/bitstream/handle/2042/2235/Creuse-Jouvencel.pdf;jsessionid=91B5B54C31C480717258ABA70DE871DA?sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |