Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/5803
Title: Optimal control problems for path planing of AUV using simplified models
Authors: De Pinho,MDR
Foroozandeh,Z
Aníbal Matos
Issue Date: 2016
Abstract: Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) in an horizontal plane when ocean currents are considered. The model includes kinematic equations and a simple dynamic equation. Our problem of interest is a minimum time problem with state constraints where the control appears linearly. This problem is solved numerically using the direct method. We extract various tests from the Maximum Principle that are then used to validate the numerical solution. In contrast to many other literature we apply the Maximum Principle as defined in [9]. © 2016 IEEE.
URI: http://repositorio.inesctec.pt/handle/123456789/5803
http://dx.doi.org/10.1109/cdc.2016.7798271
metadata.dc.type: conferenceObject
Publication
Appears in Collections:CRAS - Articles in International Conferences

Files in This Item:
File Description SizeFormat 
P-00M-DYH.pdf1.01 MBAdobe PDFThumbnail
View/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.