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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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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