Please use this identifier to cite or link to this item:
https://hdl.handle.net/10216/109699
Author(s): | Maria do Rosário de Pinho Aníbal Castilho Coimbra de Matos Zahra Foroozandeh |
Title: | Optimal Control Problems for Path Planing of AUV using Simplified Models |
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]. |
URI: | https://hdl.handle.net/10216/109699 |
Source: | 2016 IEEE 55th Conference on Decision and Control, CDC 2016 |
Document Type: | Artigo em Livro de Atas de Conferência Internacional |
Rights: | openAccess |
Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
Files in This Item:
File | Description | Size | Format | |
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237167.pdf | Preprint of Publication | 924.39 kB | Adobe PDF | View/Open |
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