Optimal 3D time-energy trajectory planning for AUVs using ocean general circulation models

OCEAN ENGINEERING

卷:218

Article

Albarakati, Sultan¹  Lima, Ricardo M.¹  Theussl, Thomas²  Hoteit, Ibrahim³  Knio, Omar M.¹ 

[1] King Abdullah Univ Sci & Technol, Comp Elect & Math Sci & Engn Div, Thuwal, Saudi Arabia

[2] King Abdullah Univ Sci & Technol KAUST, Core Labs, Thuwal 239556900, Saudi Arabia

[3] King Abdullah Univ Sci & Technol, Phys Sci & Engn Div, Thuwal, Saudi Arabia

关键词: Time-energy trajectory planning;    Ocean general circulation model;    Gulf of aden;    Pareto optimal solutions;    Unsteady ocean current;   

DOI  :  10.1016/j.oceaneng.2020.108057

来源: Elsevier

【 摘 要 】

This paper develops a new approach for solving optimal time and energy trajectory planning problems for Autonomous Underwater Vehicles (AUVs) in transient, 3D, ocean currents. Realistic forecasts using an Ocean General Circulation Model (OGCM) are used for this purpose. The approach is based on decomposing the problem into a minimal time problem, followed by minimal energy subproblems. In both cases, a non-linear programming (NLP) formulation is adopted. The scheme is demonstrated for time-energy trajectory planning problems in the Gulf of Aden. In particular, the numerical experiments illustrate the capability of generating Pareto optimal solutions in a broad range of mission durations. In addition, the analysis also highlights how the methodology effectively exploits both the vertical structure of the current field, as well as its unsteadiness, namely to minimize travel time and energy consumption.

【 授权许可】

Free