Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: implementation and experiments

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Andrew Tinka (Author) Other; Sébastien Diemer (Author) Other; L. Madureira (Author) FEUP; Eduardo Marques (Author) FEUP; João B. Sousa (Author) FEUP; Ricardo Martins (Author) FEUP; José Queirós Pinto (Author) FEUP; Jorge Estrela da Silva (Author) FEUP; P. Saint-Pierre (Author) Other; Alex Bayen (Author) Other

Conference proceedings International

Title: 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9

Pages: 3603-3610

American Control Conference 2009

St Louis, MO, JUN 10-12, 2009

Indexing

ISI Web of Knowledge - 6 Citations

Scopus - 11 Citations

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

CORDIS: Technological sciences

Other information

Authenticus ID: P-007-RGH

DOI: 10.1109/acc.2009.5160166

Abstract (EN): A viability algorithm is developed to compute the constrained minimum time function for general dynamical systems. The algorithm is instantiated for a specific dynamics (Dubin's vehicle forced by a flow field) in order to numerically solve the minimum time problem. With the specific dynamics considered, the framework of hybrid systems enables us to solve the problem efficiently. The algorithm is implemented in C using epigraphical techniques to reduce the dimension of the problem. The feasibility of this optimal trajectory algorithm is tested in an experiment with a Light Autonomous Underwater Vehicle (LAUV) system. The hydrodynamics of the LAUV are analyzed in order to develop a low-dimension vehicle model. Deployment results from experiments performed in the Sacramento River in California are presented, which show good performance of the algorithm.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8