Dynamic Goal-Based Adaptive Line of Sight for 3D Path Following: An X300 Case Study
Fuente:
Zenodo
Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Recurso digital |
| Publicado: |
Zenodo
2024
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866902145452736512 |
|---|---|
| author | Attia, Youssef Simetti, Enrico Indiveri, Giovanni Wanderlingh, Francesco |
| author_facet | Attia, Youssef Simetti, Enrico Indiveri, Giovanni Wanderlingh, Francesco |
| contents | This paper presents a Dynamic Goal-Based Adaptive Line-of-Sight algorithm for three-dimensional path-following in autonomous vehicles, addressing limitations in traditional Line-of-Sight methods that use fixed lookahead distances. The proposed approach adjusts the lookahead distance dynamically based on real-time feedback from cross-track errors, vertical-track errors, and path curvature, improving stability and accuracy in complex environments. Five simulation trials using the X300 Autonomous Underwater Vehicle were conducted, varying both lookahead distance (∆) and velocity(v). Results show that the dynamic method significantly reduces cross-track and vertical-track errors, outperforming fixed lookahead approaches, especially in sharp turns and challenging conditions. |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_14731126 |
| institution | Zenodo |
| language | |
| publishDate | 2024 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Dynamic Goal-Based Adaptive Line of Sight for 3D Path Following: An X300 Case Study Attia, Youssef Simetti, Enrico Indiveri, Giovanni Wanderlingh, Francesco adaptive line-of-sight dynamic lookahead distance path-following 3D navigation AUV This paper presents a Dynamic Goal-Based Adaptive Line-of-Sight algorithm for three-dimensional path-following in autonomous vehicles, addressing limitations in traditional Line-of-Sight methods that use fixed lookahead distances. The proposed approach adjusts the lookahead distance dynamically based on real-time feedback from cross-track errors, vertical-track errors, and path curvature, improving stability and accuracy in complex environments. Five simulation trials using the X300 Autonomous Underwater Vehicle were conducted, varying both lookahead distance (∆) and velocity(v). Results show that the dynamic method significantly reduces cross-track and vertical-track errors, outperforming fixed lookahead approaches, especially in sharp turns and challenging conditions. |
| title | Dynamic Goal-Based Adaptive Line of Sight for 3D Path Following: An X300 Case Study |
| topic | adaptive line-of-sight dynamic lookahead distance path-following 3D navigation AUV |
| url | https://doi.org/10.5281/zenodo.14731126 |