The paper describes the implementation of time and energy efficient trajectories onto a test-bed autonomous underwater vehicle. The trajectories are loosely connected to the results of the application of the maximum principle to the controlled mechanical system. We use a numerical algorithm based on geometric control theory to compute efficient trajectories designed to optimize a given cost function. Experimental results are shown for the time minimization problem.


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    Title :

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



    Published in:

    Publication date :

    2008-01-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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