This paper discusses control strategies adapted for practical implementation and efficient motion of AUVs (autonomous underwater vehicles). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle.


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    Titel :

    Design and implementation of time efficient trajectories for autonomous underwater vehicles


    Weitere Titelangaben:

    Entwurf und Ausführung von zeiteffektiven Bewegungsbahnen für autonome Unterwasserfahrzeuge


    Beteiligte:
    Chyba, M. (Autor:in) / Haberkorn, T. (Autor:in) / Smith, R.N. (Autor:in) / Choi, S.K. (Autor:in)

    Erschienen in:

    Ocean Engineering ; 35 , 1 ; 63-76


    Erscheinungsdatum :

    2008


    Format / Umfang :

    14 Seiten, 25 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Autonomous Underwater Vehicles: Development and Implementation of Time and Energy Efficient Trajectories

    Chyba, Monique / Haberkorn, Thomas / Smith, Ryan N. et al. | Taylor & Francis Verlag | 2008


    Autonomous underwater vehicles: Development and implementation of time and energy efficient trajectories

    Chyba, Monique / Haberkorn, Thomas / Smith, Ryan N. et al. | Tema Archiv | 2008



    Modeling and simulation of autonomous underwater vehicles: design and implementation

    Song, Feijun / An, P.E. / Folleco, A. | Tema Archiv | 2003


    Autonomous Underwater Vehicles

    Cruz, Nuno A. | TIBKAT | 2011

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