This paper deals with real-time optimal motion planning for astable AUVs, and presents an approximate analytical solution for the optimal control problem of a symmetric astable AUV with symmetric thruster configuration. The results show that the motion along the target vector is optimal for such underwater vehicles. The numerical solutions are found to be in good agreement with the approximate analytical solution. A relationship between the number of thrusters and the energy consumed is derived analytically for forward motion. The effect of the number of thrusters on optimality is shown to be significant at higher speeds. In the case of omni-directional underwater vehicles, the number of thrusters plays major role in optimal motion planning. For monostable underwater vehicles, the approximate analytical solution can be used as a good starting point for numerical solution.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-time optimal motion planning for autonomous underwater vehicles


    Additional title:

    Optimale Echtzeitsteuerung autonomer Unterwasserfahrzeuge


    Contributors:

    Published in:

    Ocean Engineering ; 32 , 11-12 ; 1431-1447


    Publication date :

    2005


    Size :

    17 Seiten, 11 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Real-time motion planning for agile autonomous vehicles

    Frazzoli, E. / Dahleh, M.A. / Feron, E. | Tema Archive | 2001


    Real-Time Motion Planning for Agile Autonomous Vehicles

    Emilio Frazzoli / Munther A. Dahleh / Eric Feron | AIAA | 2002


    Real-time motion planning for agile autonomous vehicles

    Frazzoli, Emilio / Dahleh, Munther / Feron, Eric | AIAA | 2000


    Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

    Yang Li / Fubin Zhang / Demin Xu et al. | DOAJ | 2017

    Free access