Trajectory Optimization for Underwater Vehicles in Time-Varying Ocean Flows

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

Authors

Miguel Aguiar (Author) Other; João Borges de Sousa (Author) FEUP; João Miguel Dias (Author) Other; Jorge Estrela da Silva (Author) Other; Renato Mendes (Author) Other; Américo S. Ribeiro (Author) Other

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 - 3 Citations

Scopus - 3 Citations

INSPEC

Other information

Authenticus ID: P-00Q-SCF

DOI: 10.1109/auv.2018.8729777

Abstract (EN): We consider the problem of generating optimal planar trajectories for marine vehicles taking into account the effect of time-varying ocean currents. This is motivated by the need for economic trajectory generation in long-duration operations, and it becomes even more important in scenarios where the magnitude of the ocean current speed is comparable to the maximum vehicle speed, as illustrated in our experiments. We propose a solution based on a simple motion model, dynamic programming and high-resolution ocean models. Optimal trajectories are generated under the assumption that the vehicle is capable of reaching the destination even when the matching condition is violated in some segments of the path. Numerical results show that the method is appropriate for practical generation of feasible trajectories in spatially constrained areas with strong currents.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6