A geometrical approach to the motion planning problem for a submerged rigid body
Data(s) |
01/09/2009
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Resumo |
The main focus of this paper is the motion planning problem for a deeply submerged rigid body. The equations of motion are formulated and presented by use of the framework of differential geometry and these equations incorporate external dissipative and restoring forces. We consider a kinematic reduction of the affine connection control system for the rigid body submerged in an ideal fluid, and present an extension of this reduction to the forced affine connection control system for the rigid body submerged in a viscous fluid. The motion planning strategy is based on kinematic motions; the integral curves of rank one kinematic reductions. This method is of particular interest to autonomous underwater vehicles which can not directly control all six degrees of freedom (such as torpedo shaped AUVs) or in case of actuator failure (i.e., under-actuated scenario). A practical example is included to illustrate our technique. |
Formato |
application/pdf |
Identificador | |
Publicador |
Taylor & Francis |
Relação |
http://eprints.qut.edu.au/40129/1/IJOC_07.pdf DOI:10.1080/00207170802654410 Smith, Ryan N., Chyba, Monique, Wilkens, George R., & Catone, Christopher J. (2009) A geometrical approach to the motion planning problem for a submerged rigid body. International Journal of Control, 82(9), pp. 1641-1656. |
Direitos |
Copyright 2009 Taylor & Francis |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #010102 Algebraic and Differential Geometry #010204 Dynamical Systems in Applications #091103 Ocean Engineering #091106 Special Vehicles #Autonomous Underwater Vehicle #Differential Geometry #Decoupling vector field #Geometric control #Kinematic Reduction |
Tipo |
Journal Article |