Increasing underwater vehicle autonomy by reducing energy consumption

OCEAN ENGINEERING

卷:36

Article

Chyba, M.²  Haberkorn, T.⁴  Singh, S. B.²  Smith, R. N.¹  Choi, S. K.³ 

[1] Univ Hawaii, Dept Ocean & Resources Engn, Honolulu, HI 96822 USA

[2] Univ Hawaii, Coll Nat Sci, Dept Math, Honolulu, HI 96822 USA

[3] Univ Hawaii, Coll Engn, Autonomous Syst Lab, Honolulu, HI 96822 USA

[4] Univ Orleans, Lab MAPMO, F-45067 Orleans 2, France

关键词: Autonomous underwater vehicle;    Minimum energy consumption;    Optimal control;    Experiments;   

DOI  :  10.1016/j.oceaneng.2008.07.012

来源: Elsevier

【 摘 要 】

In this paper, we concern ourselves with finding a control strategy that minimizes energy consumption along a trajectory connecting two given configurations. We develop an algorithm, based on our previous work with the time optimal problem, which provides implementable control strategies that are energy efficient. We find an interesting correlation between the duration of these trajectories and the optimal duration. We present the algorithm, control strategy and experimental results from our test-bed vehicle. (C) 2008 Elsevier Ltd. All rights reserved.

【 授权许可】

Free