Increasing underwater vehicle autonomy by reducing energy consumption

Chyba, M., Haberkorn, T., Smith, R.N. , Singh, S.B., & Choi, S.K. (2009) Increasing underwater vehicle autonomy by reducing energy consumption. Ocean Engineering, 36(1), pp. 62-73.

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In this paper, we concern ourselves with finding a control strategy that minimizes energy consumption along a trajectory connecting two given configurations. We develop an algorithm, based on our previous work with the time optimal problem, which provides implementable control strategies that are energy efficient. We find an interesting correlation between the duration of these trajectories and the optimal duration. We present the algorithm, control strategy and experimental results from our test-bed vehicle.

Impact and interest:

16 citations in Scopus
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12 citations in Web of Science®

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308 since deposited on 25 Mar 2011
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ID Code: 40127
Item Type: Journal Article
Refereed: Yes
Keywords: Autonomous Underwater Vehicle, Energy optimization, Optimal Control, Control Theory
DOI: 10.1016/j.oceaneng.2008.07.012
ISSN: 0029-8018
Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > NUMERICAL AND COMPUTATIONAL MATHEMATICS (010300) > Optimisation (010303)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2008 Elsevier Ltd. All rights reserved.
Deposited On: 25 Mar 2011 02:12
Last Modified: 29 Feb 2012 14:32

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