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Implementable efficient time and energy consumption trajectories design for an autonomous underwater vehicle

Chyba, Monique , Haberkorn, Thomas , Smith, Ryan N., & Choi, Song K. (2007) Implementable efficient time and energy consumption trajectories design for an autonomous underwater vehicle. In Proceedings of the 6th International Conference on Computer Applications and Information Technology in the Maritime Industries, COMPIT 200, INSEAN, Cortona, Italy, pp. 443-457.

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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.

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ID Code: 47108
Item Type: Conference Paper
Keywords: Autonomous Underwater Vehicle, Time Optimization, Optimal Control, Control Theory
ISBN: 8876170022
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 Nov 2011 10:04
Last Modified: 21 Nov 2011 10:04

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