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Robotics 2015, 4(4), 516-528; doi:10.3390/robotics4040516

Planning the Minimum Time and Optimal Survey Trajectory for Autonomous Underwater Vehicles in Uncertain Current

Department of Weapons and Systems Engineering, United States Naval Academy, Annapolis, MD 21402, USA
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Author to whom correspondence should be addressed.
Academic Editors: Ingrid Schjølberg and Thor I. Fossen
Received: 10 November 2015 / Revised: 4 December 2015 / Accepted: 11 December 2015 / Published: 16 December 2015
(This article belongs to the Special Issue Underwater Robotics)
View Full-Text   |   Download PDF [730 KB, uploaded 16 December 2015]   |  

Abstract

The authors develop an approach to a “best” time path for Autonomous Underwater Vehicles conducting oceanographic measurements under uncertain current flows. The numerical optimization tool DIDO is used to compute hybrid minimum time and optimal survey paths for a sample of currents between ebb and flow. A simulated meta-experiment is performed where the vehicle traverses the resulting paths under different current strengths per run. The fastest elapsed time emerges from a payoff table. A multi-objective function is then used to weigh the time to complete a mission versus measurement inaccuracy due to deviation from the desired survey path. View Full-Text
Keywords: autonomous underwater vehicle; optimal path planning; numerical optimization; minimum time; objective function autonomous underwater vehicle; optimal path planning; numerical optimization; minimum time; objective function
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Hurni, M.A.; Kiriakidis, K. Planning the Minimum Time and Optimal Survey Trajectory for Autonomous Underwater Vehicles in Uncertain Current. Robotics 2015, 4, 516-528.

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