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
Keyword(s):
Navigation, Waypoint, Optimization, Depth, Altitude, Cruising AUV, Bottom Collision.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Space and Underwater Robotics
;
Vehicle Control Applications
Abstract:
An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization technique for achieving waypoint-based minimum-altitude flight of an underactuated cruising AUV. While the objective of our optimization is minimizing average altitude of a vehicle throughout its flight interval, depth or altitude references on waypoints are used as control inputs. In our optimization, bottom bathymetry is incorporated as a constraint used for bottom collision avoidance. As another constraint, dynamic model of an AUV is included. By solving the dynamic model in time domain, motion responses of the vehicle following reference waypoints are derived. Our approach of the optimal waypoint navigation is validated by not only simulation but also actual at-sea deployment of an AUV.