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

Bayen, Alexandre M.; Silva, Jorge Estrela; Madureira, Luis; Marques, Edoardo; Sousa, Joao; Martins, Ricardo; Pinto, José; Diemer, Sébastien; Tinka, Andrew; Saint-Pierre, Patrick (2009), Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: implementation and experiments, American Control Conference, 2009. ACC '09., IEEE, p. 3603-3610. http://dx.doi.org/10.1109/ACC.2009.5160166

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CR saintpierre 09.pdf (2.336Mb)
Type
Communication / Conférence
Date
2009
Conference title
2009 American Control Conference - ACC2009
Conference date
2009-06
Conference city
Saint-Louis
Conference country
États-Unis
Book title
American Control Conference, 2009. ACC '09.
Publisher
IEEE
ISBN
978-1-4244-4523-3
Pages
3603-3610
Publication identifier
http://dx.doi.org/10.1109/ACC.2009.5160166
Metadata
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Author(s)
Bayen, Alexandre M.
Silva, Jorge Estrela
Madureira, Luis
Marques, Edoardo
Sousa, Joao cc
Martins, Ricardo
Pinto, José
Diemer, Sébastien
Tinka, Andrew
Saint-Pierre, Patrick
Abstract (EN)
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.
Subjects / Keywords
trajectories; underwater vehicle; viability algorithm; hybrid systems; implementation
JEL
C3 - Multiple or Simultaneous Equation Models; Multiple Variables
C15 - Statistical Simulation Methods: General

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