Optimal Control Framework for AUV's Motion Planning in Planar Vortices Vector Field

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

Fernando Lobo Pereira (Author) FEUP; Teresa Grilo (Author) Other; Sílvio Gama (Author) FCUP

Conference proceedings International

Title: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings

Pages: 1-6

2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018

6 November 2018 through 9 November 2018

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 1 Citation

INSPEC

Other information

Authenticus ID: P-00Q-SCK

DOI: 10.1109/auv.2018.8729782

Abstract (EN): This article concerns the investigation of an optimal control framework based on the Maximum Principle of Pontryagin for the motion planning of Autonomous Underwater Vehicles (AUVs) that take into account not only its own controlled dynamics (unicycle) through its actuators, but also the motion effects of the water column flow fields, notably, the point vortices which might either be naturally present or intentionally generated in order to achieve the desired motion features. We do not enter into issues related to the AUV mechanical design, but assume that this can such that the shape of the (movable or not) vehicle surfaces, are such that the water column flow field energy can be used with advantage to the required motion. In this context, we simply assume that the vehicle is a point mass unicycle such that the effect of the water column vortices can be controlled to contribute to the desired AUVs longitudinal and rotational velocities. The control action usually considered in the literature is extended by including the generation of vortices whose location and circulation are chosen at discrete points in time so the their effect on the AUV motion drives it between two given in an efficient way. Necessary conditions of optimality are derived in the context of multi-processes framework.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6