The motion control of a surface ship based on four degrees freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering model is studied in this paper. A time-scale decomposition method introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at same time. objectives are let track predefined curve path under environmental disturbances, reduce roll singular pertur...

In this paper the problem of path planning and path following for a car-like robot is considered. Some new algorithms are proposed, which, by experiments, have been proven to be quite robust.

When a company is faced with an extremely large vehicle routing problem, an interesting option is to divide the customers into zones and perform the routing using the zones rather than the individual customers. Although this greatly reduces the complexity of the original routing problem, customers within each zone still have to be scheduled. In this paper we discuss the shortest pre-Hamiltonian...

The shortest path problem is solved and applied to the calculations of half lives with respect to spontaneous fission of heavy nuclei. The dynamical programming method of Bellman and Kalaba is used to find the fission path in the d-dimensional space of deformation parameters. Fission half lives of heavy isotopes (100<Z<110) are shown and compared to the experimental data. 1. Introductory remark...

being one of the major research fields in the robotics discipline, the robot motion planning problem deals with finding an obstacle-free start-to-goal path for a robot navigating among workspace obstacles. such a problem is also encountered in path planning of intelligent vehicles and automatic guided vehicles (agvs). traditional (exact) algorithms have failed to solve the problem effectively s...

This paper addresses the problem of guidance and control underwater vehicles. A multi-level strategy is used to determine (1) outer-loop path-following commands (2) inner-loop actuation commands. Specifically, a line-of-sight algorithm guide vehicle along three-dimensional path, an L1 adaptive low-level rudder accomplish path following. The performance bounds these outer- algorithms are present...

This is a brief intro to the algebraic path problem, and much of this material is based on Rote’s excellent paper (Günter Rote: A Systolic Array Algorithm for the Algebraic Path Problem (Shortest Paths; Matrix Inversion), Computing, 34(3):191–219, 1985)

Let A be a set of 2n points in general position on a plane, and suppose n of the points are coloured red while the remaining are coloured blue. An alternating path P of A is a sequence p1, p2,..., p2n of points of A such that p2i is blue and p2i+1 is red. P is simple if it does not intersect itself. We determine the condition under which there exists a simple alternating path P of A for the cas...

A bio-inspired neurodynamics based path-following controller of underactuated autonomous underwater vehicle (AUV) in the presence of ocean current is proposed. A kind of bio-inspired neurodynamics model and the backstepping path-following controller are combined in this paper. The bio-inspired neurodynamics model is applied to generate smooth forward and angular velocities, so that the sharp sp...

We propose a dynamic program to find the shortest path in a network having gamma probability distributions as arc lengths. Two operators of sum and comparison need to be adapted for the proposed dynamic program. Convolution approach is used to sum two gamma probability distributions being employed in the dynamic program.