“Computing energy-optimal trajectories for an autonomous underwater vehicle using direct shooting”
Authors: Inge Spangelo and Olav Egeland,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1992, Vol 13, No 3, pp. 163-174.
Keywords: ROV, optimal control, nonlinear programming, direct shooting
Abstract: Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators are modeled and controlled with velocity loops. The dissipated energy is expressed in terms of the control variables as a nonquadratic function. Direct shooting methods, including control vector parameterization (CVP) arc used in this study. Numerical calculations are performed and good results are achieved.
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DOI: 10.4173/mic.1992.3.4DOI forward links to this article:
| [1] Andreas J. Hausler, Alessandro Saccon, Antonio M. Pascoal, John Hauser and A. Pedro Aguiar (2013), doi:10.1109/OCEANS-Bergen.2013.6608137 |
| [2] I. Spangelo and O. Egeland (1993), doi:10.1016/S1474-6670(17)48622-8 |
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BibTeX:
@article{MIC-1992-3-4,
title={{Computing energy-optimal trajectories for an autonomous underwater vehicle using direct shooting}},
author={Spangelo, Inge and Egeland, Olav},
journal={Modeling, Identification and Control},
volume={13},
number={3},
pages={163--174},
year={1992},
doi={10.4173/mic.1992.3.4},
publisher={Norwegian Society of Automatic Control}
};