Energy-optimal trajectories for underwater vehicles be computed using a numerical solution of the optimal control problem. A performance index consisting of a weighted combination of energy and time consumption is proposed. Collision avoidance is solved by including path constraints. Control vector parameterization with direct single shooting is used in this study. The vehicle is modeled with six-dimensional nonlinear and coupled equations of motion. Optimal trajectories are computed for a vehicle controlled in all six degrees of freedom by dc-motor-driven thrusters. Good numerical results are achieved.
Trajectory planning and collision avoidance for underwater vehicles using optimal control
Bahnplanung und Kollisionsvermeidung von Unterwasserfahrzeugen mit Hilfe der Optimalwertregelung
IEEE Journal of Oceanic Engineering ; 19 , 4 ; 502-511
1994
10 Seiten, 27 Quellen
Article (Journal)
English
Kriegsmarine , Optimalwertregelung , Lageregelung , Energieverbrauch , Unterwassertechnik , Unterseeboot , Wegplansteuerung , Kollision , numerisches Verfahren , Bewegungsbahn , Bewegungsgleichung , Freiheitsgrad , Gleichstrommotor , Elektroantrieb , Bahnplanung , Kollisionsschutz , Leistungswert , Teleroboter , Unterwasserfahrzeug
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