Time optimal trajectory design for unmanned underwater vehicle

Loc, Mai Ba; Choi, Hyeung-Sik; You, Sam–Sang; Huy, Tran Ngoc

doi:10.1016/j.oceaneng.2014.06.019

Cited by 8 publications

(5 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The strategy of TOT uses the maximum input to increase the velocity to the critical value and then uses the minimum torque to decrease the velocity to zero such that all position and velocity constraints in Figure 2 are satisfied. This concept was first proposed in [17]. There are three time periods in the TOT trajectory analysis, acceleration, constant velocity, and deceleration periods where the corresponding control inputs are equal to T max , T min , and 0, respectively (Figure 2a).…”

Section: Time-optimal Solution Of the Second-order Differential Equationmentioning

confidence: 99%

“…Moreover, the time-optimal trajectory was studied in [16] for an underwater glider in the known and time-varying flow fields. In addition, the explicit solution of the time-optimal trajectory for the depth control of the underwater vehicle was studied [17]. Vu et al [18] designed an energyefficient trajectory for the depth motion control of an underwater vehicle system with the uncertainty of bounded parameters and disturbances within limited control input using the global optimal sliding mode controller.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time-Optimal Trajectory Design for Heading Motion of the Underwater Vehicle

Nguyen

et al. 2023

JMSE

Self Cite

View full text Add to dashboard Cite

Underwater vehicles are a powerful tool that can assist oceanologists with measuring the state of oceans on a large scale. The heading control is essential for the underwater vehicle to follow a specific path. This study describes the general decoupled dynamics of underwater vehicles, which is a nonlinear second-order differential equation considering linear and quadratic damping hydrodynamics. A novel aspect of this study is the development of a new analytical solution for the second-order nonlinear differential equation, which involves the heading motion of the underwater vehicle. In this study, the time-optimal trajectory is formulated as the closed-form solution for the heading dynamics of the underwater vehicle. The concept of this trajectory is based on the shortest arrival time when the maximum force from the thrusters is applied to the underwater vehicle. Finally, a simulation of the time-optimal trajectory and evaluation of the robustness of the controller were demonstrated in order to verify the effectiveness of the proposed trajectory for controlling underwater vehicles.

show abstract

Section: Time-optimal Solution Of the Second-order Differential Equationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Time-Optimal Trajectory Design for Heading Motion of the Underwater Vehicle

Nguyen

et al. 2023

JMSE

Self Cite

View full text Add to dashboard Cite

show abstract

“…With the popularity and wide application of UUV (Unmanned Underwater Vehicle) in the ocean engineering and military operation fields, UUV as an indispensable intelligent navigation vehicle has attracted many attentions [1][2][3][4]. The path planning of UUV is one of the challenging problem in the application processing, because it is a foundation to ensure safe and efficient completion of complex underwater tasks [5][6][7][8][9][10]. The main objective of the path planning is considered as the computation an optimal collision-free and the shortest trajectory from the start to the destination without hitting with any of the obstacles in underwater environment.…”

Section: Introductionmentioning

confidence: 99%

Path Planning for Unmanned Underwater Vehicle Based on Improved Particle Swarm Optimization Method

Xu¹,

Gu²,

Liang³

2018

Int. J. Onl. Eng.

View full text Add to dashboard Cite

Path planning of Unmanned Underwater Vehicle (UUV) is of considerable significance for the underwater navigation, the objective of the path planning is to find an optimal collision-free and the shortest trajectory from the start to the destination. In this paper, a new improved particle swarm optimization (IPSO) was proposed to process the global path planning in a static underwater environment for UUV. Firstly, the path planning principle for UUV was established, in which three cost functions, path length, exclusion potential field between the UUV and obstacle, and attraction potential field between UUV and destination, were considered and developed as an optimization objective. Then, on the basis of analysis traditional particle swarm optimization (PSO), the time-varying acceleration coefficients and slowly varying function were employed to improve performance of PSO, time-varying acceleration coefficients was utilized to balance the local optimum and global optimum, and slowly varying function was introduced into the updating formula of PSO to expand search space and maintain particle diversity. Finally, numerical simulations verify that, the proposed approach can fulfill path planning problems for UUN successfully.

show abstract

“…Adhami-Mirhosseini et al [5] proposed a nonlinear dynamic controller combined with Fourier series expansion and pseudospectral ideas to achieve the depth tracking objective. In [6], an analytical SMC method is used to obtain the time optimal trajectory tracking, and the effectiveness of the proposed controller was verified via simulations. The fuzzy feedback linearization methods studied in [7] abandoned two general assumptions and used the nonlinear dynamics of depth motion directly.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle

Yao

Yang

2017

Discrete Dynamics in Nature and Society

View full text Add to dashboard Cite

The attitude control and depth tracking issue of autonomous underwater vehicle (AUV) are addressed in this paper. By introducing a nonsingular coordinate transformation, a novel nonlinear reduced-order observer (NROO) is presented to achieve an accurate estimation of AUV’s state variables. A discrete-time model predictive control with nonlinear model online linearization (MPC-NMOL) is applied to enhance the attitude control and depth tracking performance of AUV considering the wave disturbance near surface. In AUV longitudinal control simulation, the comparisons have been presented between NROO and full-order observer (FOO) and also between MPC-NMOL and traditional NMPC. Simulation results show the effectiveness of the proposed method.

show abstract

Time optimal trajectory design for unmanned underwater vehicle

Cited by 8 publications

References 4 publications

Time-Optimal Trajectory Design for Heading Motion of the Underwater Vehicle

Time-Optimal Trajectory Design for Heading Motion of the Underwater Vehicle

Path Planning for Unmanned Underwater Vehicle Based on Improved Particle Swarm Optimization Method

Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle

Contact Info

Product

Resources

About