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
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;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582540
