This paper describes an original approach based on dynamic programming theory (discrete-time finite horizon Markov control) to address the difficult problem of computing optimal trajectories with respect to some criteria for any vehicle evolving in a given environment (in a probabilistic point of view) to accomplish some tasks (defined in a complex Lipschitz criteria). After a brief remind about dynamic programming. The whole control process is detailled and applied in this paper for a submarine equipped with a sonar system which wants to detect targets as well as possible. Promising result about the optimal depth control for a submarine are presented with one and then two targets showing that the chosen approach is a good candidate.


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    Title :

    Stochastic control for underwater optimal trajectories


    Contributors:
    Negre, A. (author) / Marceau, O. (author) / Laneuville, D. (author) / Huilong Zhang, (author) / De Saporta, B. (author) / Dufour, F. (author)


    Publication date :

    2012-03-01


    Size :

    856086 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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