Optimal control problems for path planing of AUV using simplified models

Detalhes bibliográficos
Autor(a) principal: Maria do Rosário de Pinho
Data de Publicação: 2016
Outros Autores: Zahra Foroozandeh, Aníbal Matos
Tipo de documento: Relatório
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/83111
Resumo: 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].
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spelling Optimal control problems for path planing of AUV using simplified modelsHere 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].20162016-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/10216/83111eng10.1109/CDC.2016.7798271Maria do Rosário de PinhoZahra ForoozandehAníbal Matosinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:21:12Zoai:repositorio-aberto.up.pt:10216/83111Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:59:29.818348Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Optimal control problems for path planing of AUV using simplified models
title Optimal control problems for path planing of AUV using simplified models
spellingShingle Optimal control problems for path planing of AUV using simplified models
Maria do Rosário de Pinho
title_short Optimal control problems for path planing of AUV using simplified models
title_full Optimal control problems for path planing of AUV using simplified models
title_fullStr Optimal control problems for path planing of AUV using simplified models
title_full_unstemmed Optimal control problems for path planing of AUV using simplified models
title_sort Optimal control problems for path planing of AUV using simplified models
author Maria do Rosário de Pinho
author_facet Maria do Rosário de Pinho
Zahra Foroozandeh
Aníbal Matos
author_role author
author2 Zahra Foroozandeh
Aníbal Matos
author2_role author
author
dc.contributor.author.fl_str_mv Maria do Rosário de Pinho
Zahra Foroozandeh
Aníbal Matos
description 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].
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/report
format report
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10216/83111
url https://hdl.handle.net/10216/83111
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/CDC.2016.7798271
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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