Optimal trajectory generation in ocean flows
Abstract
In this paper it is shown that Lagrangian Coherent Structures (LCS) are useful in determining near optimal trajectories for autonomous underwater gliders in a dynamic ocean environment. This opens the opportunity for optimal path planning of autonomous underwater vehicles by studying the global flow geometry via dynamical systems methods. Optimal glider paths were computed for a 2-dimensional kinematic model of an end-point glider problem. Numerical solutions to the optimal control problem were obtained using Nonlinear Trajectory Generation (NTG) software. The resulting solution is compared to corresponding results on LCS obtained using the Direct Lyapunov Exponent method. The velocity data used for these computations was obtained from measurements taken in August, 2000, by HF-Radar stations located around Monterey Bay, CA.
Additional Information
© 2005 AACC. We would like to sincerely thank Raktim Bhattacharya, Francois Lekien, Richard Murray, and Naomi Leonard for their valuable input and support.Attached Files
Published - InShMa2005.pdf
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Additional details
- Eprint ID
- 20326
- Resolver ID
- CaltechAUTHORS:20101007-075448595
- Created
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2010-11-19Created from EPrint's datestamp field
- Updated
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2021-11-08Created from EPrint's last_modified field
- Series Name
- Proceedings of the American Control Conference