Underwater vehicles: a surprising non time-optimal path
نویسنده
چکیده
This paper deals with the time-optimal problem for a class of underwater vehicles. We prove that if two configurations at rest can be joined by a horizontal or a vertical translation in the body frame coordinates, then there exists a shorter path. Our computations are based on the maximum principle and use that translations in the body frame coordinates are time-equivalent to paths formed by concatenations of 2-singular extremals that are proved to be non time-optimal.
منابع مشابه
Analysis of adaptive sampling techniques for underwater vehicles
A critical problem in planning sampling paths for autonomous underwater vehicles is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real-time and a priori environmental data is available. In this paper we present ...
متن کاملPlanning the Minimum Time and Optimal Survey Trajectory for Autonomous Underwater Vehicles in Uncertain Current
The authors develop an approach to a “best” time path for Autonomous Underwater Vehicles conducting oceanographic measurements under uncertain current flows. The numerical optimization tool DIDO is used to compute hybrid minimum time and optimal survey paths for a sample of currents between ebb and flow. A simulated meta-experiment is performed where the vehicle traverses the resulting paths un...
متن کاملPath Planning for Autonomous Underwater Vehicles in Realistic Oceanic Current Fields: Application to Gliders in the Western Mediterranean Sea
Autonomous Underwater Vehicles (AUVs) usually operate in ocean environments characterized by complex spatial variability which can jeopardize their missions. To avoid this, planning safety routes with minimum energy cost is of primary importance. This work revisits the benefits, in terms of travelling time, of path planning in marine environments showing spatial variability. By means of a path ...
متن کاملComparison of fuzzy BK-product and A* search algorithm for optimal path finding in unsupervised underwater environment
The article addresses comparison of fuzzy BKproduct approach with A* search algorithm for optimal path finding of the autonomous underwater vehicles (AUVs). The technique is designed to accomplish two missions: obstacle avoidance using ARTMAP and fuzzy BK-product and comparison of optimal path finding with A* search algorithm. In the first mission, underwater obstacle avoidance technique has al...
متن کاملCoordinated Path-Following Control of Multiple Autonomous Underwater Vehicles
The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities. This paper introduces the concept of coordinated path-following control of multiple AUVs. The vehicles ar...
متن کامل