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Towards practical implementation of time optimal trajectories for underwater vehicles

Chyba, M. , Haberkorn, T. , Smith, R.N., Zhao, S. , & Choi, S.K. (2006) Towards practical implementation of time optimal trajectories for underwater vehicles. In Proceedings of the 25th International Conference on Offshore Mechanics and Arctic Engineering (OMAE 2006), Hamburg, Germany, pp. 183-190.

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    Abstract

    In this paper, we are concerned with the practical implementation of time optimal numerical techniques on underwater vehicles. We briefly introduce the model of underwater vehicle we consider and present the parameters for the test bed ODIN (Omni-Directional Intelligent Navigator). Then we explain the numerical method used to obtain time optimal trajectories with a structure suitable for the implementation. We follow this with a discussion on the modifications to be made considering the characteristics of ODIN. Finally, we illustrate our computations with some experimental results.

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    ID Code: 40145
    Item Type: Conference Paper
    Additional URLs:
    Keywords: Autonomous Underwater Vehicle, Optimal Control, Time Optimal
    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 > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    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 2006 ASME
    Deposited On: 21 Mar 2011 10:23
    Last Modified: 11 Aug 2011 04:38

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