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.
Autonomous Underwater Vehicles: Development and Implementation of Time and Energy Efficient Trajectories
Ship Technology Research ; 55 , 1 ; 36-48
2008-01-01
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Development of Autonomous Underwater Vehicles
British Library Conference Proceedings | 2000
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