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.

Warning

There is a more recent version of this eprint available. Click here to view it.

Abstract

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.

Impact and interest:

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

64 since deposited on 21 Mar 2011
1 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 40142
Item Type: Conference Paper
Refereed: Yes
Keywords: Autonomous Underwater Vehicle, Time Optimization, Optimal Control, Control Theory
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)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 Please consult the authors.
Deposited On: 21 Mar 2011 00:01
Last Modified: 21 Nov 2011 00:04

Available Versions of this Item

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page