A Guidance System for an AUV with Optimal Energy Spent

MARIO A. JORDÁN; JORGE L. BUSTAMANTE

Marina Bay Sand

Conferencia; 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014); 2013

IEEE Control Systems Society, IEEE Robotics and Automation Society y IEEE Systems, Man and Cybernetics Society.

TRABAJO EN REVISION PARA SER PRESENTADO EN ICARCV 2014 ---------------------------------------------------------------------------------------------------------------------------------This paper concerns the estimation of optimal energy paths to dose power demands in autonomous underwater vehicles (AUVs) with the end to achieve maximal autonomy in the presence of a flow field. The trajectories searched for are parameterized and structured on a grid (usually employed in sampling missions on the sea bottom) with a relative orientation with respect to the current flow.  The optimal solution is a set of cruise velocities along the  path. A practical approach is developed in real time for accomplishing path corrections due to spurious in the flow. A theoretical background is developed and a simulation study is given with comparative optimal and suboptimal solutions.