Towards practical implementation of time optimal trajectories for underwater vehicles
Data(s) |
04/06/2006
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Resumo |
In this paper, we are concerned with the practical implementation of time optimal numerical techniques on underwater vehicles. We briefly introduce the model of underwater vehicle we consider and present the parameters for the test bed ODIN (Omni-Directional Intelligent Navigator). Then we explain the numerical method used to obtain time optimal trajectories with a structure suitable for the implementation. We follow this with a discussion on the modifications to be made considering the characteristics of ODIN. Finally, we illustrate our computations with some experimental results. |
Formato |
application/pdf |
Identificador | |
Relação |
http://eprints.qut.edu.au/40145/1/40145.pdf http://www.asme.org/products/proceedings/proceedings-of-the-25th-international-conferen-(2) Chyba, M., Haberkorn, T., Smith, R.N., Zhao, S., & Choi, S.K. (2006) Towards practical implementation of time optimal trajectories for underwater vehicles. In Proceedings of the 25th International Conference on Offshore Mechanics and Arctic Engineering (OMAE 2006), Hamburg, Germany, pp. 183-190. |
Direitos |
Copyright 2006 ASME |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #010203 Calculus of Variations Systems Theory and Control Theory #010303 Optimisation #080101 Adaptive Agents and Intelligent Robotics #091106 Special Vehicles #Autonomous Underwater Vehicle #Optimal Control #Time Optimal |
Tipo |
Conference Paper |