Robotics: Science and Systems XII
Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows
Bilal Hammoud, Elie ShammasAbstract:
This paper introduces a new kinematic model to describe the planar motion of an Autonomous Underwater Vehicle (AUV) moving in constant current flows. The AUV is modeled as a rigid body moving at maximum attainable forward velocity with symmetric bounds on the control input for the turning rate. The model incorporates the effect a flow will induce on the turning rate of the AUV due to the non-symmetric geometry of the vehicle. The model is then used to characterize and construct the minimum time paths that take the AUV from a given initial configuration to a final configuration in the plane. Two algorithms for the time-optimal path synthesis problem are also introduced along with several simulations to validate the proposed method.
Bibtex:
@INPROCEEDINGS{Hammoud-RSS-16, AUTHOR = {Bilal Hammoud AND Elie Shammas}, TITLE = {Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2016}, ADDRESS = {AnnArbor, Michigan}, MONTH = {June}, DOI = {10.15607/RSS.2016.XII.031} }