Autonomous Underwater Vehicles: Development and Implementation of Time and Energy Efficient Trajectories

被引：11

作者：

Chyba, Monique ^{[1
]}

Haberkorn, Thomas ^{[1
]}

Smith, Ryan N. ^{[1
]}

Choi, Song K. ^{[1
]}

机构：

[1] Univ Hawaii, MATH, ORED, ASL, 2565 McCarthy Mall, Honolulu, HI 96822 USA

来源：

SHIP TECHNOLOGY RESEARCH | 2008年 / 55卷 / 01期

关键词：

manoeuvring; optimization; robot;

D O I：

10.1179/str.2008.55.1.004

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

The paper describes the implementation of time and energy efficient trajectories onto a test-bed autonomous underwater vehicle. The trajectories are loosely connected to the results of the application of the maximum principle to the controlled mechanical system. We use a numerical algorithm based on geometric control theory to compute efficient trajectories designed to optimize a given cost function. Experimental results are shown for the time minimization problem.

引用

页码：36 / +

页数：14

共 14 条

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[2]

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[3]

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[4]

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[5]

CHYBA M., 2007, 6 C COMP IT APPL MAR, P443

[6]

Chyba M., 2007, GEOMETRIC PROPERTIES

[7]

Fossen T.I., 1994, GUIDANCE CONTROL OCE

[8]

Fourer R., 1993, AMPL MODELING LANGUA

[9]

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[10]

LEONARD N. E., 1996, 35 IEEE C DEC CONTR

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