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Author: Kangsoo Kim

Affiliation: National Maritime Research Institute, National Institute of Maritime, Port, and Aviation Technology, 6-38-1 Shinkawa, Mitaka, Tokyo 181-0004 and Japan

ISBN: 978-989-758-321-6

Keyword(s): Suboptimal, Navigation, Uncertainty, Variable, Sea Current, Minimum-time, Marine Vehicle.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Space and Underwater Robotics ; Vehicle Control Applications

Abstract: A navigation strategy achieving suboptimality in the transits of autonomous marine vehicles is presented. The objective of optimal navigation is the minimum-time transit of a marine vehicle moving in a flow field of sea currents. Reactive revisions of an ongoing optimal navigation followed by tracking controls are the key features of the proposed suboptimal strategy. In this research, a globally working numerical procedure for obtaining the solution of an optimal heading guidance law is presented. The developed solution procedure derives optimal heading reference that achieves the minimum-time transit of a marine vehicle in any deterministic sea currents whether stationary or time varying. The proposed suboptimal navigation works as a fail-safe strategy for the optimal navigation when there happen significant hostile actions which possibly cause the failure in ongoing optimal navigation. Simplicity and robustness are notable characteristics of our suboptimal strategy compared to other s seeking rigorous optimality. Simulation results of autonomous underwater vehicle routing conducted by suboptimal navigation in various sea currents are presented. (More)

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Paper citation in several formats:
Kim, K. (2018). A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 432-439. DOI: 10.5220/0006906204420449

@conference{icinco18,
author={Kangsoo Kim.},
title={A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={432-439},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006906204420449},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents
SN - 978-989-758-321-6
AU - Kim, K.
PY - 2018
SP - 432
EP - 439
DO - 10.5220/0006906204420449

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