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

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