Saravanakumar Subramanian, Thomas George, and Asokan Thondiyath


  1. [1] F. Repoulias and E. Papadopoulos, Planar trajectory and tracking control design for underactuated AUVs, Journal of Ocean Engineering, 34, 2007, 1650–1667.
  2. [2] H.L. Xu and X.S. Feng, An AUV fuzzy obstacle avoidance method under event feedback supervision, Proc. OCEANS 2009, MTS/IEEE Biloxi – Marine Technology for Our Future: Global and Local Challenges, October, 2009, 1–6.
  3. [3] O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, International Journal of Robotic Research, 5, 1986, 90–98.
  4. [4] P. Khosla and R. Volpe, Superquadric artificial potentials for obstacle avoidance and approach, Proc. IEEE Conf. on Robotics and Automation, Philadelphia, PA, 1988, 1778–1784.
  5. [5] J.O. Kim and P.K. Khosla, Real-time obstacle avoidance using harmonic potential functions, IEEE Transactions on Robotics and Automation, 8, 1992, 338–349.
  6. [6] S.S. Ge and Y.J. Cui, New potential functions for mobile robot path planning, IEEE Transactions on Robotics and Automation, 16, 2000, 615–620.
  7. [7] S. Saravanakumar, G. Thomas, and T. Asokan, Obstacle avoidance using multipoint potential field approach for an underactuated flat-fish type autonomous underwater vehicle in dynamic environment, Proc. Int. Conf. on Intelligent Robotics, Automation and Manufacturing (IRAM-2012), Malaysia, November 2012, 20–27.
  8. [8] S. Saravanakumar and T. Asokan, Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space, International Journal of Intelligent Service Robotics, 6(4), 2013, 211–224.
  9. [9] S. Saravanakumar, G. Thomas, and T. Asokan, Hardware-in-the-loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV, Proc. IEEE Conf. on Robotics and Biomimetics (ROBIO 2012), Guangzhou, China, 2012, 545–550.
  10. [10] T.I. Fossen, Guidance and control of ocean vehicles (Chichester: John Wiley and Sons Ltd., 1994).
  11. [11] M. Santhakumar and T. Asokan, Investigations on the hybrid tracking control of an underactuated autonomous underwater robot, Advanced Robotics, 24(11), 2010, 1529–1556.
  12. [12] H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavraki, and S. Thrun, Principles of robot motion: Theory, algorithms, and implementations (MIT Press, 2005).
  13. [13] U. Culha, CS548 – Robot motion and control assignments website,∼culha/cs548/hw2/ (accessed Dec. 2012).
  14. [14] D. Fu-guang, J. Peng, B. Xin-qian, and W. Hong-jian, AUV local path planning based on virtual potential field, Proc. IEEE Conf. on Mechatronics and Automation, Niagara Falls, Canada, 2005, 1711–1716.

Important Links:

Go Back