Guidance and Control of Autonomous Underwater Vehicles
نویسنده
چکیده
This paper discusses the design and practical use of efficient trajectories for an autonomous underwater vehicle. The vehicle model that will be presented is based on the NASA funded Deep Phreatic Thermal Explorer (DEPTHX) and the Omni-Directional Intelligent Navigator (ODIN). The underlying mathematical framework is developed using geometric control theory and differential geometry. Briefly, the control strategies are developed are based on integral curves defined in the configuration space of the rigid body and kinematic reductions of rank one. Presented are the control schemes for several legitimate mission scenarios and how pre-planned trajectories exploiting the inherent geometry of the vehicle and the environment overcome thruster failure.
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