Showing papers by "Zoran Vukić published in 2008"
TL;DR: In this paper, the use of self-oscillation identification method for controller design for underwater vehicles using both linear and nonlinear models can be obtained using both selfoscillation and the bias term that appears due to currents and buoyancy.
9 citations
25 Jun 2008
TL;DR: In this paper, a method for the trajectory planning of coordinated groups of UVs, developed in authors' previous work, is extended, and the key points within the design patterns that must be used to implement the method in code are stressed.
Abstract: A method for the trajectory planning of coordinated groups of UUVs, developed in authors' previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development is compared with the strategy for local minima avoidance previously employed by the authors. Testing is done by simulation and comparison of simulated system responses.
6 citations
TL;DR: A distributed method for online trajectory planning for coordinated UUVs, developed in authors’ previous work is revisited, and rotors, a vectorized quantity contributing to local minima avoidance, are introduced.
4 citations