NDLI: Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: Implementation and experiments

Content Provider	IEEE Xplore Digital Library
Author	Tinka, A. Diemer, S. Madureira, L. Marques, E.B. de Sousa, J.B. Martins, R. Pinto, J. da Silva, J.E. Sousa, A. Saint-Pierre, P. Bayen, A.M.
Copyright Year	2009
Description	Author affiliation: Systems Engineering, Department of Civil and Environmental Engineering, University of California at Berkeley, USA (Tinka, A.; Bayen, A.M.) \|\| Electrical Engineering Department, Porto Polytechnic Institute, Portugal (da Silva, J.E.) \|\| Electrical and Computer Engineering Department, Faculty of Engineering, Porto University, Portugal (Madureira, L.; Marques, E.B.; de Sousa, J.B.; Martins, R.; Pinto, J.; Sousa, A.) \|\| Department of Mathematics, Université Paris-Dauphine, Paris, France (Saint-Pierre, P.) \|\| Ecole Nationale Suprieure des Mines de Paris, France (Diemer, S.)
Abstract	A viability algorithm is developed to compute the constrained minimum time function for general dynamical systems. The algorithm is instantiated for a specific dynamics (Dubin's vehicle forced by a flow field) in order to numerically solve the minimum time problem. With the specific dynamics considered, the framework of hybrid systems enables us to solve the problem efficiently. The algorithm is implemented in C using epigraphical techniques to reduce the dimension of the problem. The feasibility of this optimal trajectory algorithm is tested in an experiment with a Light Autonomous Underwater Vehicle (LAUV) system. The hydrodynamics of the LAUV are analyzed in order to develop a low-dimension vehicle model. Deployment results from experiments performed in the Sacramento River in California are presented, which show good performance of the algorithm.
Starting Page	3603
Ending Page	3610
File Size	2224161
Page Count	8
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160166
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Time factors Underwater vehicles Vehicle dynamics Optimal control Control systems Constraint theory System testing Hydrodynamics Remotely operated vehicles Rivers
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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