Inanc, Tamer and Shadden, Shawn C. and Marsden, Jerrold E. (2005) Optimal trajectory generation in ocean flows. In: Proceedings of the 2005 American Control Conference. Proceedings of the American Control Conference. American Automatic Control Council , Evanston, IL, pp. 674-679. ISBN 0-7803-9098-9 http://resolver.caltech.edu/CaltechAUTHORS:20101007-075448595
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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.
|Item Type:||Book Section|
|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.|
|Subject Keywords:||Lagrangian coherent structures , Lyapunov exponent method , autonomous underwater gliders , autonomous underwater vehicles , dynamical systems methods , global flow geometry , nonlinear trajectory generation , ocean flows , optimal control , optimal trajectory generation|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||19 Nov 2010 23:32|
|Last Modified:||26 Dec 2012 12:30|
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