INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
Guidance System of an AUV with Maximal Autonomy
Autor/es:
MARIO A. JORDÁN; JORGE L. BUSTAMANTE
Lugar:
Oro Verde
Reunión:
Congreso; XIV Reunión de Trabajo en Procesamiento de la Información y Control (RPIC XIV); 2011
Institución organizadora:
Universidad Nacional de Entre Ríos
Resumen:
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.
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