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Designing Efficient Trajectories for Underwater Vehicles Using Geometric Control Theory

[+] Author Affiliations
M. Chyba, T. Haberkorn

University of Hawaii, Honolulu, HI

Paper No. OMAE2005-67226, pp. 637-645; 9 pages
  • ASME 2005 24th International Conference on Offshore Mechanics and Arctic Engineering
  • 24th International Conference on Offshore Mechanics and Arctic Engineering: Volume 2
  • Halkidiki, Greece, June 12–17, 2005
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 0-7918-4196-0 | eISBN: 0-7918-3759-9
  • Copyright © 2005 by ASME


In this paper, we consider the minimum time problem for underwater vehicles. Using Lagrangian mechanics, we write the equations of motion for marine vehicles with 6 degrees of freedom as a controlled mechanical system. We then apply the necessary conditions from the maximum principle for a trajectory to be time optimal. Using techniques from differential geometry we analyze the resuls. Finally we supplement the theoretical study with numerical simulations.

Copyright © 2005 by ASME



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