Design and implementation of time efficient trajectories for an underwater vehicle
Chyba, Monique , Haberkorn, Thomas , Smith, Ryan N., & Choi, S.K. (2008) Design and implementation of time efficient trajectories for an underwater vehicle. Ocean Engineering, 35(1), pp. 63-76.
This paper discusses control strategies adapted for practical implementation and efficient motion of underwater vehicles. These trajectories are piecewise constant thrust arcs with few actuator switchings. We provide the numerical algorithm which computes the time efficient trajectories parameterized by the switching times. We discuss both the theoretical analysis and experimental implementation results.
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