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.


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    Titel :

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


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2008-01-01


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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