Towards Practical Implementation of Time Optimal Trajectories for Underwater Vehicles | Zendy

Monique Chyba | Zendy; Thomas Haberkorn | Zendy; R. N. Smith | Zendy; Shijun Zhao | Zendy; S.K. Choi | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Towards Practical Implementation of Time Optimal Trajectories for Underwater Vehicles

Author(s) -

Monique Chyba,

Thomas Haberkorn,

R. N. Smith,

Shijun Zhao,

S.K. Choi

Publication year - 2006

Publication title -

citeseer x (the pennsylvania state university)

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1115/omae2006-92175

Subject(s) - underwater , computer science , computation , trajectory , vehicle dynamics , simulation , algorithm , aerospace engineering , engineering , geology , oceanography , physics , astronomy

In this paper, we are concerned with the practical imple- mentation of time optimal numerical techniques on underwater vehicles. We briefly introduce the model of underwater vehicle we consider and present the parameters for the test bed ODIN (Omni-Directional Intelligent Navigator). Then we explain the numerical method used to obtain time optimal trajectories with a structure suitable for the implementation. We follow this with a discussion on the modifications to be made considering the char- acteristics of ODIN. Finally, we illustrate our computations with some experimental results.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research