Optimal control problems for path planing of AUV using simplified models

• Type: Technical Report
• Date: 2016

Authors

Maria do Rosário de Pinho (Author) FEUP; Zahra Foroozandeh (Author) Other; Aníbal Matos (Author) FEUP

Indexing

ISI Web of Science

Scopus

INSPEC

Other information

DOI: 10.1109/CDC.2016.7798271

Abstract (EN): Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) in an horizontal plane when ocean currents are considered. The model includes kinematic equations and a simple dynamic equation. Our problem of interest is a minimum time problem with state constraints where the control appears linearly. This problem is solved numerically using the direct method. We extract various tests from the Maximum Principle that are then used to validate the numerical solution. In contrast to many other literature we apply the Maximum Principle as defined in [9].

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6