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Decoupled trajectory planning for a submerged rigid body subject to dissipative and potential forces

Smith, Ryan N., Chyba, Monique, & Singh, Shashi B. (2008) Decoupled trajectory planning for a submerged rigid body subject to dissipative and potential forces. In IEEE Region 10 Colloquium and Third International Conference on Industrial and Information Systems, 8-10 December 2008, Kharagpur, India.

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    Abstract

    This paper studies the practical but challenging problem of motion planning for a deeply submerged rigid body. Here, we formulate the dynamic equations of motion of a submerged rigid body under the architecture of differential geometric mechanics and include external dissipative and potential forces. The mechanical system is represented as a forced affine-connection control system on the configuration space SE(3). Solutions to the motion planning problem are computed by concatenating and reparameterizing the integral curves of decoupling vector fields. We provide an extension to this inverse kinematic method to compensate for external potential forces caused by buoyancy and gravity. We present a mission scenario and implement the theoretically computed control strategy onto a test-bed autonomous underwater vehicle. This scenario emphasizes the use of this motion planning technique in the under-actuated situation; the vehicle loses direct control on one or more degrees of freedom. We include experimental results to illustrate our technique and validate our method.

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    ID Code: 40140
    Item Type: Conference Paper
    Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > PURE MATHEMATICS (010100) > Algebraic and Differential Geometry (010102)
    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 > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ship and Platform Hydrodynamics (091104)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2008 Please consult the authors.
    Deposited On: 24 Mar 2011 09:42
    Last Modified: 21 Nov 2011 09:15

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