The authors developed an approach to a “best” time path for Autonomous Underwater Vehicles sailing uncertain currents. The numerical optimization tool DIDO is used to compute minimum time paths for a sample of currents between ebb and flow. A simulated meta-experiment is performed where the vehicle traverses the resulting paths under different current strengths per run. The fastest elapsed time emerges from a payoff table.
- Dynamic Systems and Control Division
Planning the Minimum Time Course for Autonomous Underwater Vehicle in Uncertain Current
Hurni, MA, Kiriakidis, K, & Nicholson, JW. "Planning the Minimum Time Course for Autonomous Underwater Vehicle in Uncertain Current." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems. Palo Alto, California, USA. October 21–23, 2013. V002T32A004. ASME. https://doi.org/10.1115/DSCC2013-3849
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