Show simple item record

dc.contributor.authorBayen, Alexandre M.
dc.contributor.authorSilva, Jorge Estrela
dc.contributor.authorMadureira, Luis
dc.contributor.authorMarques, Edoardo
dc.contributor.authorSousa, Joao
dc.contributor.authorMartins, Ricardo
dc.contributor.authorPinto, José
dc.contributor.authorDiemer, Sébastien
dc.contributor.authorTinka, Andrew
dc.contributor.authorSaint-Pierre, Patrick
dc.date.accessioned2010-09-13T08:33:44Z
dc.date.available2010-09-13T08:33:44Z
dc.date.issued2009
dc.identifier.urihttps://basepub.dauphine.fr/handle/123456789/4740
dc.language.isoenen
dc.subjecttrajectoriesen
dc.subjectunderwater vehicleen
dc.subjectviability algorithmen
dc.subjecthybrid systemsen
dc.subjectimplementationen
dc.subject.ddc518en
dc.subject.classificationjelC3en
dc.subject.classificationjelC15en
dc.titleViability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: implementation and experimentsen
dc.typeCommunication / Conférence
dc.description.abstractenA 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.en
dc.identifier.citationpages3603-3610en
dc.relation.ispartoftitleAmerican Control Conference, 2009. ACC '09.en
dc.relation.ispartofpublnameIEEEen
dc.relation.ispartofdate2009
dc.description.sponsorshipprivateouien
dc.subject.ddclabelModèles mathématiques. Algorithmesen
dc.relation.ispartofisbn978-1-4244-4523-3en
dc.relation.conftitle2009 American Control Conference - ACC2009en
dc.relation.confdate2009-06
dc.relation.confcitySaint-Louisen
dc.relation.confcountryÉtats-Unisen
dc.identifier.doihttp://dx.doi.org/10.1109/ACC.2009.5160166


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record