DocumentCode
3113119
Title
Optimal Motion of an Articulated Body in a Perfect Fluid
Author
Kanso, Eva ; Marsden, Jerrold E.
Author_Institution
Control & Dynamical Systems, California Institute of Technology, Pasadena, CA 91125, ekanso@cds.caltech.edu
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
2511
Lastpage
2516
Abstract
An articulated body can propel and steer itself in a perfect fluid by changing its shape only. Our strategy for motion planning for the submerged body is based on finding the optimal shape changes that produce a desired net locomotion; that is, motion planning is formulated as a nonlinear optimization problem.
Keywords
Biological system modeling; Cost function; Equations; Marine animals; Mathematical model; Motion planning; Propulsion; Shape; Solid modeling; Strategic planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1582540
Filename
1582540
Link To Document