Optimal Control Problems for Path Planing of AUV using Simplified Models

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

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

Conference proceedings International

Title: 2016 IEEE 55th Conference on Decision and Control, CDC 2016

Pages: 210-215

55th IEEE Conference on Decision and Control, CDC 2016

12 December 2016 through 14 December 2016

Indexing

ISI Proceedings

ISI Web of Knowledge - 5 Citations

Scopus - 6 Citations

Other information

Authenticus ID: P-00M-DYH

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