On motion planning for an underactuated ship: Fundamental limitations and a bearings-only navigation strategy

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2007, Pages 2411-2416

  Manchester, Ian R ^a   Shiriaev, Anton ^a,b   Savkin, Andrey V ^c  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^c UNIVERSITY OF NEW SOUTH WALES   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; NAVIGATION SYSTEMS; VELOCITY CONTROL;

UNDERACTUATED SHIPS; WHEELED ROBOT NAVIGATION;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 62749203962     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2007.4434781     Document Type: Conference Paper

References (16)

1. T. I. Fossen, Marine Control Systems, Marine Cybernetics, 2002.
2. T.I.Fossen, M. Breivik, and R. Skjetne, "Line-of-sight path following of underactuated marine craft", in Proc. of the IFAC MCMC, Girona, Spain, 2003.
3. R. Skjetne, T. I. Fossen, and P. V. Kokotovic, "Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory", Automatica, vol. 41, no. 2, pp. 289-298, 2005.
4. A. S. Shiriaev, A. Robertsson, P. Pacull, and T. I. Fossen, "Motion planning and feedback stabilization for underactuated ships: Virtual constraints approach", in in the Proceedings of the 16th IFAC world congress, Prague, 2005.
5. A. S. Shiriaev, A. Robertsson, L. Freidovich, and R. Johansson, "Coordinating control for a fleet of underactuated ships", in Group Coordination and Cooperative Control, K. Y. Pettersen, J. T. Gravdahl, and H. Nijmeijer, Eds. 2006, vol. 336 of Lecture Notes in Control and Information Sciences, pp. 233-250, Springer.
6. A. S. Shiriaev, J. W. Perram, and C. Canudas de Wit, "Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach", IEEE Transactions on Automatic Control, vol. 50, pp. 1164-1176, 2005.
7. A. S. Shiriaev, J. W. Perram, A. Robertsson, and A. Sandberg, "Motion planing for virtually constrained mechanical systems", Systems & Control Letters, 2006.
8. I. R. Manchester and A. V. Savkin, "Circular navigation guidance law for precision missile target engagements", Journal of Guidance, Control, and Dynamics, vol. 29, no. 2, pp. 314-320, Mar-Apr 2006.
9. I. R. Manchester and A. V. Savkin, "Circular navigation guidance law with incomplete information and uncertain autopilot model", Journal of Guidance, Control, and Dynamics, vol. 27, no. 8, pp. 1078-1083, Nov-Dec 2004.
10. I. R. Manchester, A. V. Savkin, and F. A. Faruqi, "An optical-flow based precision missile guidance law", IEEE Transactions on Aerospace and Electronic Systems (accepted).
11. V. Malyavej, I. R. Manchester, and A. V. Savkin, "Precision missile guidance using radar/multiple-video sensor fusion via communication channels with bit-rate constraints", Automatica, vol. 42, no. 5, pp. 763-769, May 2006.
12. I. R. Manchester and A. V. Savkin, "Vision-based docking for biomimetic wheeled robots", in Proceedings of the 15th IFAC World Congress, Prague, Czech Republic, July 2005.
13. M. P. E. Low, I. R. Manchester, and A. V. Savkin, "A biologically inspired method for vision-based docking of wheeled mobile robots", Robotics and Autonomous Systems (in press, available online).
14. T. I. Fossen and J. P. Strand, "Nonlinear passive weather optimal positioning control for ships and rigs: Experimental results", Automatica, vol. 37, pp. 701-715, 2001.
15. M. P. E. Low, I. R. Manchester, and A. V. Savkin, "A method for vision-based docking of wheeled mobile robots", in Proceedings of the IEEE International Conference on Control Applications, Munich, Germany, October 2006.
16. T. Glad and L. Ljung, Control Theory: Multivariable and Nonlinear Methods, Taylor and Francis, New York, 2000.