Title :
Trajectory planning and collision avoidance for underwater vehicles using optimal control
Author :
Spangelo, Inge ; Egeland, Olav
Author_Institution :
Div. of Eng. Cybern., Inst. of Technol., Trondheim, Norway
fDate :
10/1/1994 12:00:00 AM
Abstract :
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
Keywords :
computerised navigation; marine systems; optimal control; optimisation; path planning; position control; telerobotics; collision avoidance; control vector parameterization; coupled equations of motion; dc-motor-driven thrusters; direct single shooting; energy consumption; energy-optimal trajectories; numerical results; numerical solution; optimal control; path constraints; performance index; six-dimensional nonlinear equation of motion; time consumption; trajectory planning; underwater vehicles; Battery powered vehicles; Collision avoidance; Energy consumption; Equations; Optimal control; Performance analysis; Piecewise linear approximation; Remotely operated vehicles; Trajectory; Underwater vehicles;
Journal_Title :
Oceanic Engineering, IEEE Journal of
