Trajectory planning and collision avoidance for underwater vehicles using optimal control

Author

Spangelo, Inge ; Egeland, Olav

Author_Institution

Div. of Eng. Cybern., Inst. of Technol., Trondheim, Norway

Volume

19

Issue

4

fYear

1994

fDate

10/1/1994 12:00:00 AM

Firstpage

502

Lastpage

511

Abstract

Energy-optimal trajectories for underwater vehicles be computed using a numerical solution of the optimal control problem. A performance index consisting of a weighted combination of energy and time consumption is proposed. Collision avoidance is solved by including path constraints. Control vector parameterization with direct single shooting is used in this study. The vehicle is modeled with six-dimensional nonlinear and coupled equations of motion. Optimal trajectories are computed for a vehicle controlled in all six degrees of freedom by dc-motor-driven thrusters. Good numerical results are achieved

Keywords

computerised navigation; marine systems; optimal control; optimisation; path planning; position control; telerobotics; collision avoidance; control vector parameterization; coupled equations of motion; dc-motor-driven thrusters; direct single shooting; energy consumption; energy-optimal trajectories; numerical results; numerical solution; optimal control; path constraints; performance index; six-dimensional nonlinear equation of motion; time consumption; trajectory planning; underwater vehicles; Battery powered vehicles; Collision avoidance; Energy consumption; Equations; Optimal control; Performance analysis; Piecewise linear approximation; Remotely operated vehicles; Trajectory; Underwater vehicles;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.338386

Filename

338386