Implementation results of efficient trajectories on a testbed AUV
Chyba, Monique, Haberkorn, Thomas, Smith, Ryan N., & Choi, Song K. (2007) Implementation results of efficient trajectories on a testbed AUV. In Proceedings of the 6th International Conference on Computer Applications and Information Technology in the Maritime Industries, COMPIT 2007, Cortona, Italy.
In this paper we consider the implementation of time and energy efficient trajectories onto a test-bed autonomous underwater vehicle. The trajectories are losely connected to the results of the application of the maximum principle to the controlled mechanical system. We use a numerical algorithm to compute efficient trajectories designed using geometric control theory to optimize a given cost function. Experimental results are shown for the time minimization problem.
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